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+05/11 19:18:07 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 19:18:07 INFO: Starting house-by-house rollout of 1 houses with 40 episodes each (40 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 19:18:07 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 19:18:07 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_002'),
+ '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 0x70ed43d70d90>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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': 30201,
+ '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': (1.9, 2.5),
+                         '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': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 40,
+                         '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]
+05/11 19:18:07 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]
+05/11 19:18:07 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 19:18:07 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 19:18:07 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 19:18:07 INFO: Starting house-by-house rollout of 1 houses with 40 episodes each (40 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 19:18:07 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 19:18:07 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_002'),
+ '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 0x797180cf37d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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': 30202,
+ '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': (1.9, 2.5),
+                         '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': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 40,
+                         '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]
+05/11 19:18:07 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]
+05/11 19:18:07 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 19:18:07 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 19:18:08 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 19:18:08 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 19:18:11 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 19:18:11 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 19:18:11 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 19:18:11 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 19:18:11 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 19:18:11 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 19:18:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:18:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:18:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:18:11 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]
+05/11 19:18:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:18:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101549m	[env.py: 870]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:18:11 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:11 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:11 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 19:18:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:18:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:18:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:18:11 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]
+05/11 19:18:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:18:11 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]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199488m	[env.py: 870]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:18:11 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54416408 -1.03714891 -0.10154862] yaw=-54.1deg	[env.py: 1019]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:18:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=18.2ms, retries=488.7ms, total=506.8ms	[env.py: 1075]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -1.037, -0.102)	[env.py: 1079]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg	[env.py: 1082]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:18:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15400733 -1.07763604 -0.19948826] yaw=-39.8deg	[env.py: 1019]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30009617 -0.96927281 -0.19948826] yaw=-46.2deg	[env.py: 1019]
+05/11 19:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:18:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=93.9ms, retries=554.7ms, total=648.6ms	[env.py: 1075]
+05/11 19:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.154, -1.078, -0.199)	[env.py: 1079]
+05/11 19:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.8 deg	[env.py: 1082]
+05/11 19:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/11 19:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:18:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:18:12 INFO: [Worker 0] Worker 0 house 1 episode 0/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:18:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:18:12 INFO: [Worker 0] Worker 0 house 1 episode 0/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:18:12 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 19:18:12 INFO: Starting house-by-house rollout of 1 houses with 40 episodes each (40 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 19:18:12 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 19:18:12 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_002'),
+ '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 0x7d261264c890>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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': 30204,
+ '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': (1.9, 2.5),
+                         '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': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 40,
+                         '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]
+05/11 19:18:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/11 19:18:12 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 19:18:12 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 19:18:13 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 19:18:13 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/11 19:18:13 INFO: Starting house-by-house rollout of 1 houses with 40 episodes each (40 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/11 19:18:13 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/11 19:18:13 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_002'),
+ '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 0x7948c37f2bd0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  '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': 30203,
+ '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': (1.9, 2.5),
+                         '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': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 40,
+                         '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]
+05/11 19:18:13 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]
+05/11 19:18:13 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/11 19:18:13 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/11 19:18:13 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/11 19:18:15 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 19:18:15 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 19:18:15 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 19:18:15 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 19:18:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:18:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:18:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:18:15 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]
+05/11 19:18:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:18:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175455m	[env.py: 870]
+05/11 19:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:18:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 19:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49830355 -1.01275842 -0.17545502] yaw=-61.4deg	[env.py: 1019]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:18:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=19.1ms, retries=341.5ms, total=360.6ms	[env.py: 1075]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.498, -1.013, -0.175)	[env.py: 1079]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg	[env.py: 1082]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/11 19:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:18:16 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/11 19:18:16 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/11 19:18:16 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/11 19:18:16 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/11 19:18:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:18:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:18:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:18:16 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]
+05/11 19:18:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:18:16 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]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148478m	[env.py: 870]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:18:16 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:18:16 INFO: [Worker 0] Worker 0 house 1 episode 0/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=29.6ms, retries=431.3ms, total=460.8ms	[env.py: 1105]
+05/11 19:18:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:18:16 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]
+05/11 19:18:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:18:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:18:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:18:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:18:18 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]
+05/11 19:18:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:18:18 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]
+05/11 19:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142029m	[env.py: 870]
+05/11 19:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:18:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=671.0ms, total=671.1ms	[env.py: 1105]
+05/11 19:18:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:18:18 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:18:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:18:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:18:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:18:19 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]
+05/11 19:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:18:19 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]
+05/11 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121874m	[env.py: 870]
+05/11 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29820128 -1.23150103 -0.12187362] yaw=-47.6deg	[env.py: 1019]
+05/11 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:18:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=569.2ms, total=569.2ms	[env.py: 1075]
+05/11 19:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -1.232, -0.122)	[env.py: 1079]
+05/11 19:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/11 19:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/11 19:18:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:18:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:18:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:18:20 INFO: [Worker 0] Worker 0 house 1 episode 2/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:18:52 INFO: [Worker 0] Warmed up parallel IK solver in 39.897s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:18:52 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]
+05/11 19:18:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:18:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.182s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:18:54 INFO: [Worker 0] Warmed up parallel IK solver in 41.904s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:18:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:18:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:18:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.189s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:18:54 INFO: [Worker 0] Warmed up parallel IK solver in 38.293s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:18:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:18:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:18:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:18:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.856s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:18:56 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.627[m] 93.570[deg]	[grasp_sample.py: 539]
+05/11 19:18:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:18:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:18:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:18:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.914s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:18:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.672[m] 85.302[deg]	[grasp_sample.py: 539]
+05/11 19:18:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:18:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:18:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:18:59 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 19:18:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:18:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:18:59 INFO: [Worker 0] Warmed up parallel IK solver in 39.171s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:18:59 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]
+05/11 19:18:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:18:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:19:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:19:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:19:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:19:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:19:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:19:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:19:01 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]
+05/11 19:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174020m	[env.py: 870]
+05/11 19:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:19:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=270.6ms, total=270.6ms	[env.py: 1105]
+05/11 19:19:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:19:01 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:19:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.381s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:19:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.673[m] 85.534[deg]	[grasp_sample.py: 539]
+05/11 19:19:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:19:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:19:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:19:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:19:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:19:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:19:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:19:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:19:03 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]
+05/11 19:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134202m	[env.py: 870]
+05/11 19:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:19:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=232.8ms, total=232.9ms	[env.py: 1105]
+05/11 19:19:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:19:03 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:19:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:19:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:19:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:19:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:19:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:19:05 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]
+05/11 19:19:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:19:05 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]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148745m	[env.py: 870]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:19:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.2009336  -0.92595397 -0.14874504] yaw=-57.7deg	[env.py: 1019]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:19:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=360.0ms, total=360.1ms	[env.py: 1075]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.201, -0.926, -0.149)	[env.py: 1079]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.7 deg	[env.py: 1082]
+05/11 19:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/11 19:19:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:19:05 INFO: [Worker 0] Worker 0 house 1 episode 3/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:19:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:19:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:19:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:19:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:19:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.862s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:19:07 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:19:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:19:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:19:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:19:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:19:09 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]
+05/11 19:19:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:19:09 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]
+05/11 19:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153411m	[env.py: 870]
+05/11 19:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:19:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=403.5ms, total=403.5ms	[env.py: 1105]
+05/11 19:19:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:19:09 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:19:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:19:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:19:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:19:11 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]
+05/11 19:19:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:19:11 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]
+05/11 19:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172203m	[env.py: 870]
+05/11 19:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:19:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=553.6ms, total=553.7ms	[env.py: 1105]
+05/11 19:19:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:19:11 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:19:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:19:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:19:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:19:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:19:13 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]
+05/11 19:19:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:19:13 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]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108541m	[env.py: 870]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:19:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23450523 -0.9295229  -0.10854123] yaw=-43.3deg	[env.py: 1019]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27777699 -0.90122012 -0.10854123] yaw=-40.9deg	[env.py: 1019]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:19:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=514.4ms, total=514.4ms	[env.py: 1075]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -0.930, -0.109)	[env.py: 1079]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg	[env.py: 1082]
+05/11 19:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/11 19:19:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:19:14 INFO: [Worker 0] Worker 0 house 1 episode 6/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:19:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:19:14 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]
+05/11 19:19:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:19:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:19:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.787s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:19:16 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:19:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:19:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:19:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:19:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:19:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:19:17 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]
+05/11 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124826m	[env.py: 870]
+05/11 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:19:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=376.0ms, total=376.0ms	[env.py: 1105]
+05/11 19:19:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:19:18 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:19:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:19:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:19:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:19:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:19:19 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]
+05/11 19:19:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:19:19 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]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172892m	[env.py: 870]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:19:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41917466 -0.98222178 -0.17289194] yaw=-48.2deg	[env.py: 1019]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:19:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=279.3ms, total=279.3ms	[env.py: 1075]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -0.982, -0.173)	[env.py: 1079]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg	[env.py: 1082]
+05/11 19:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/11 19:19:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:19:20 INFO: [Worker 0] Worker 0 house 1 episode 8/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:19:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:19:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:19:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:19:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:19:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:19:21 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.701[m] 86.176[deg]	[grasp_sample.py: 539]
+05/11 19:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:19:23 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:19:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:19:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:19:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:19:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:19:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:19:24 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]
+05/11 19:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169091m	[env.py: 870]
+05/11 19:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:19:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47974263 -0.85985497 -0.16909112] yaw=-62.4deg	[env.py: 1019]
+05/11 19:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:19:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=396.6ms, total=396.7ms	[env.py: 1075]
+05/11 19:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.860, -0.169)	[env.py: 1079]
+05/11 19:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg	[env.py: 1082]
+05/11 19:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/11 19:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:19:25 INFO: [Worker 0] Worker 0 house 1 episode 9/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:19:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:19:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:19:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:19:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:19:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.139s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:19:28 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.774[m] 99.351[deg]	[grasp_sample.py: 539]
+05/11 19:19:29 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:19:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:19:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:19:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:19:31 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]
+05/11 19:19:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:19:31 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]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126766m	[env.py: 870]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:19:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64362992 -0.96645005 -0.12676617] yaw=-65.1deg	[env.py: 1019]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=487.6ms, total=487.7ms	[env.py: 1075]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.644, -0.966, -0.127)	[env.py: 1079]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.1 deg	[env.py: 1082]
+05/11 19:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/11 19:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:19:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:19:31 INFO: [Worker 0] Worker 0 house 1 episode 10/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:19:31 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]
+05/11 19:19:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:19:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:19:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.157s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:19:33 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.640[m] 93.576[deg]	[grasp_sample.py: 539]
+05/11 19:19:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:19:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:19:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:19:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:19:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:20:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:20:09 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]
+05/11 19:20:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:20:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:20:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.217s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:20:12 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.502[m] 69.508[deg]	[grasp_sample.py: 539]
+05/11 19:20:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:20:14 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:20:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:20:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:20:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:20:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:20:16 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]
+05/11 19:20:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:20:16 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]
+05/11 19:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155990m	[env.py: 870]
+05/11 19:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:20:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=501.5ms, total=501.6ms	[env.py: 1105]
+05/11 19:20:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:20:16 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:20:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:20:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:20:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:20:18 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]
+05/11 19:20:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:20:18 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]
+05/11 19:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168975m	[env.py: 870]
+05/11 19:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:20:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=430.6ms, total=430.7ms	[env.py: 1105]
+05/11 19:20:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:20:18 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]
+05/11 19:20:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:20:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:20:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:20:20 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]
+05/11 19:20:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:20:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146362m	[env.py: 870]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:20:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50105505 -0.92762509 -0.14636209] yaw=-62.4deg	[env.py: 1019]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54465545 -0.84773669 -0.14636209] yaw=-70.4deg	[env.py: 1019]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:20:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=450.6ms, total=450.7ms	[env.py: 1075]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.501, -0.928, -0.146)	[env.py: 1079]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg	[env.py: 1082]
+05/11 19:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/11 19:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:20:20 INFO: [Worker 0] Worker 0 house 1 episode 13/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:20:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:20:20 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]
+05/11 19:20:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:20:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:20:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.529s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:20:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.679[m] 82.779[deg]	[grasp_sample.py: 539]
+05/11 19:20:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:20:26 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:20:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:20:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:20:27 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]
+05/11 19:20:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:20:27 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]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189919m	[env.py: 870]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:20:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.47352196 -0.81866924 -0.1899191 ] yaw=-62.3deg	[env.py: 1019]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:20:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=400.1ms, total=400.1ms	[env.py: 1075]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.819, -0.190)	[env.py: 1079]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg	[env.py: 1082]
+05/11 19:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/11 19:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:20:28 INFO: [Worker 0] Worker 0 house 1 episode 14/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:20:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:20:28 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]
+05/11 19:20:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:20:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:20:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.002s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:20:30 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.779[m] 82.322[deg]	[grasp_sample.py: 539]
+05/11 19:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:20:31 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:20:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:20:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:20:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:20:33 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]
+05/11 19:20:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:20:33 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]
+05/11 19:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190239m	[env.py: 870]
+05/11 19:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:20:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=357.8ms, total=357.9ms	[env.py: 1105]
+05/11 19:20:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:20:33 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]
+05/11 19:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:20:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:20:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:20:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:20:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:20:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:20:35 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]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173076m	[env.py: 870]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:20:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51950857 -0.80667435 -0.17307556] yaw=-63.4deg	[env.py: 1019]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:20:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:20:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=281.3ms, total=281.3ms	[env.py: 1075]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.520, -0.807, -0.173)	[env.py: 1079]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg	[env.py: 1082]
+05/11 19:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/11 19:20:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:20:35 INFO: [Worker 0] Worker 0 house 1 episode 16/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:20:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:20:35 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]
+05/11 19:20:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:20:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.186s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:20:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:20:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:42 INFO: [Worker 0] Object is not in grasp! 0.00114 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:20:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:20:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:20:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:20:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.215s, found 364 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:20:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:20:43 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.133[m] 4.039[deg]	[grasp_sample.py: 539]
+05/11 19:20:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:20:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:20:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:20:47 INFO: [Worker 0] Object is not in grasp! 0.00100 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:20:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:20:47 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]
+05/11 19:20:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:20:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 384 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:20:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.245s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:20:50 INFO: [Worker 0] Feasible grasp found 437 (originally 437): w/ 0.115[m] 5.653[deg]	[grasp_sample.py: 539]
+05/11 19:20:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.122s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:20:51 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.769[m] 84.074[deg]	[grasp_sample.py: 539]
+05/11 19:20:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:20:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:20:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:20:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:20:52 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:20:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:20:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:20:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:20:53 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]
+05/11 19:20:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:20:53 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]
+05/11 19:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159738m	[env.py: 870]
+05/11 19:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:20:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19253737 -1.14407146 -0.15973849] yaw=-28.6deg	[env.py: 1019]
+05/11 19:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:20:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=286.0ms, total=286.0ms	[env.py: 1075]
+05/11 19:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.193, -1.144, -0.160)	[env.py: 1079]
+05/11 19:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.6 deg	[env.py: 1082]
+05/11 19:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/11 19:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:20:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:20:54 INFO: [Worker 0] Worker 0 house 1 episode 1/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:20:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:20:54 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]
+05/11 19:20:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:20:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:20:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:20:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:20:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:20:56 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]
+05/11 19:20:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:20:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 368 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:20:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.694s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:20:58 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.051[m] 1.916[deg]	[grasp_sample.py: 539]
+05/11 19:20:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:20:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:20:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:21:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.309s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:21:01 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.747[m] 79.975[deg]	[grasp_sample.py: 539]
+05/11 19:21:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:21:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:21:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:21:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:21:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:21:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:21:09 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:21:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:21:09 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]
+05/11 19:21:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:21:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.172s, found 391 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:21:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:21:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.140[m] 3.161[deg]	[grasp_sample.py: 539]
+05/11 19:21:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:21:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:21:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:21:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:21:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:21:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:21:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:21:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:21:44 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:21:44 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.90s:
+  episode_total: mean=69.61s, total=208.84s, count=3, min=680.7ms, max=204421.6ms
+  sensor_polling: mean=483.8ms, total=145.13s, count=300, min=332.3ms, max=812.4ms
+  physics_step: mean=31.0ms, total=9.31s, count=300, min=20.9ms, max=98.1ms
+  task_sampling_failed: mean=2.21s, total=4.42s, count=2, min=680.7ms, max=3739.3ms
+  scene_load: mean=3.27s, total=3.27s, count=1, min=3266.7ms, max=3266.7ms
+  task_specific_sample: mean=679.4ms, total=2.04s, count=3, min=468.1ms, max=892.8ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1743.7ms, max=1743.7ms
+  scene_compile: mean=1.25s, total=1.25s, count=1, min=1251.5ms, max=1251.5ms
+  task_sampling: mean=895.3ms, total=895.3ms, count=1, min=895.3ms, max=895.3ms
+  compile_mujoco: mean=776.2ms, total=776.2ms, count=1, min=776.2ms, max=776.2ms
+  compile_xml_load: mean=358.4ms, total=358.4ms, count=1, min=358.4ms, max=358.4ms
+  scene_init: mean=169.4ms, total=169.4ms, count=1, min=169.4ms, max=169.4ms
+  scene_asset_install: mean=101.8ms, total=101.8ms, count=1, min=101.8ms, max=101.8ms
+  compile_aux_objects: mean=96.5ms, total=96.5ms, count=1, min=96.5ms, max=96.5ms
+  compile_aux_policy_objects: mean=96.4ms, total=96.4ms, count=1, min=96.4ms, max=96.4ms
+  asset_install_grasps: mean=61.0ms, total=61.0ms, count=1, min=61.0ms, max=61.0ms
+  asset_install_objects: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  compile_robot_add: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  asset_install_scene: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms
+  scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=1.1ms, max=1.2ms
+  mj_forward_sync: mean=484.1us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=57.8us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:21:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:21:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:21:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:21:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:21:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:21:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:21:46 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]
+05/11 19:21:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:21:46 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]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148130m	[env.py: 870]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:21:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59438588 -0.80705223 -0.14813012] yaw=-78.0deg	[env.py: 1019]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:21:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=449.8ms, total=449.8ms	[env.py: 1075]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.807, -0.148)	[env.py: 1079]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.0 deg	[env.py: 1082]
+05/11 19:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/11 19:21:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:21:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:21:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:21:46 INFO: [Worker 0] Worker 0 house 1 episode 3/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:21:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:21:46 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]
+05/11 19:21:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:21:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.171s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:22:02 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:22:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:22:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.121s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:22:10 INFO: [Worker 0] Feasible grasp found 135 (originally 135): w/ 0.793[m] 101.653[deg]	[grasp_sample.py: 539]
+05/11 19:22:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:22:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:22:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:22:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:22:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:22:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:22:29 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:22:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 19:22:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 19:22:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:22:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:22:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:22:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:22:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 18.30s (batch: 4.33s, save: 13.98s)	[pipeline.py: 300]
+05/11 19:22:49 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.51s:
+  episode_total: mean=281.29s, total=281.29s, count=1, min=281286.2ms, max=281286.2ms
+  sensor_polling: mean=490.3ms, total=147.10s, count=300, min=336.9ms, max=700.4ms
+  save_trajectories: mean=13.98s, total=13.98s, count=1, min=13978.9ms, max=13978.9ms
+  physics_step: mean=32.9ms, total=9.86s, count=300, min=21.0ms, max=100.1ms
+  task_sampling: mean=4.51s, total=4.51s, count=1, min=4511.4ms, max=4511.4ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4325.6ms, max=4325.6ms
+  scene_load: mean=3.47s, total=3.47s, count=1, min=3472.5ms, max=3472.5ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1799.2ms, max=1799.2ms
+  scene_compile: mean=1.51s, total=1.51s, count=1, min=1507.3ms, max=1507.3ms
+  task_specific_sample: mean=1.04s, total=1.04s, count=1, min=1036.3ms, max=1036.3ms
+  compile_mujoco: mean=955.2ms, total=955.2ms, count=1, min=955.2ms, max=955.2ms
+  compile_xml_load: mean=418.8ms, total=418.8ms, count=1, min=418.8ms, max=418.8ms
+  scene_init: mean=116.8ms, total=116.8ms, count=1, min=116.8ms, max=116.8ms
+  compile_aux_objects: mean=95.0ms, total=95.0ms, count=1, min=95.0ms, max=95.0ms
+  compile_aux_policy_objects: mean=95.0ms, total=95.0ms, count=1, min=95.0ms, max=95.0ms
+  scene_asset_install: mean=48.9ms, total=48.9ms, count=1, min=48.9ms, max=48.9ms
+  asset_install_grasps: mean=34.0ms, total=34.0ms, count=1, min=34.0ms, max=34.0ms
+  compile_robot_add: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=402.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=39.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:22:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:22:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:22:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:22:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:22:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:22:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:22:50 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]
+05/11 19:22:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:22:50 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]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183775m	[env.py: 870]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:22:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57265309 -0.97121806 -0.18377517] yaw=-69.6deg	[env.py: 1019]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:22:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=230.8ms, total=230.9ms	[env.py: 1075]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.573, -0.971, -0.184)	[env.py: 1079]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.6 deg	[env.py: 1082]
+05/11 19:22:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/11 19:22:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:22:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:22:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:22:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:22:51 INFO: [Worker 0] Worker 0 house 1 episode 1/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:22:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:22:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:22:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:22:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:22:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:22:55 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.648[m] 95.140[deg]	[grasp_sample.py: 539]
+05/11 19:22:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:22:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:22:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:21 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:23:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:23:34 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]
+05/11 19:23:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:23:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:23:35 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:23:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:23:36 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]
+05/11 19:23:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:23:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:23:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.675s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:23:44 INFO: [Worker 0] Feasible grasp found 206 (originally 206): w/ 0.506[m] 61.518[deg]	[grasp_sample.py: 539]
+05/11 19:23:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:23:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:23:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:23:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 19:23:52 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/11 19:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.972s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:23:55 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.122[m] 12.276[deg]	[grasp_sample.py: 539]
+05/11 19:23:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:23:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:23:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:23:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:23:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:23:58 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]
+05/11 19:23:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:23:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:24:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:24:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 19:24:06 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/11 19:24:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.300s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:24:07 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.502[m] 62.023[deg]	[grasp_sample.py: 539]
+05/11 19:24:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:24:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:24:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:24:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:24:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:24:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:24:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:24:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:24:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:24:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 17.96s (batch: 4.53s, save: 13.44s)	[pipeline.py: 300]
+05/11 19:24:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:11 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=10.18s:
+  episode_total: mean=19.93s, total=338.88s, count=17, min=243.5ms, max=215951.5ms
+  sensor_polling: mean=481.1ms, total=158.29s, count=329, min=332.5ms, max=774.8ms
+  save_trajectories: mean=13.44s, total=13.44s, count=1, min=13435.4ms, max=13435.4ms
+  physics_step: mean=31.3ms, total=10.29s, count=329, min=21.0ms, max=121.7ms
+  task_sampling: mean=1.13s, total=10.18s, count=9, min=515.2ms, max=4803.3ms
+  task_specific_sample: mean=558.4ms, total=9.49s, count=17, min=239.8ms, max=955.4ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4528.8ms, max=4528.8ms
+  scene_load: mean=3.84s, total=3.84s, count=1, min=3844.4ms, max=3844.4ms
+  task_sampling_failed: mean=402.9ms, total=3.22s, count=8, min=243.5ms, max=568.1ms
+  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
+  scene_compile: mean=1.77s, total=1.77s, count=1, min=1766.8ms, max=1766.8ms
+  compile_mujoco: mean=978.9ms, total=978.9ms, count=1, min=978.9ms, max=978.9ms
+  compile_xml_load: mean=647.1ms, total=647.1ms, count=1, min=647.1ms, max=647.1ms
+  scene_init: mean=224.3ms, total=224.3ms, count=1, min=224.3ms, max=224.3ms
+  compile_aux_objects: mean=106.0ms, total=106.0ms, count=1, min=106.0ms, max=106.0ms
+  compile_aux_policy_objects: mean=106.0ms, total=106.0ms, count=1, min=106.0ms, max=106.0ms
+  scene_asset_install: mean=47.1ms, total=47.1ms, count=1, min=47.1ms, max=47.1ms
+  asset_install_grasps: mean=32.3ms, total=32.3ms, count=1, min=32.3ms, max=32.3ms
+  compile_robot_add: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
+  scene_randomize: mean=1.3ms, total=22.3ms, count=17, min=1.0ms, max=1.8ms
+  asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms
+  mj_forward_sync: mean=596.0us, total=10.1ms, count=17, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=21.1us, total=0.2ms, count=9, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=16, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:24:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:24:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:24:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:24:12 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]
+05/11 19:24:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:24:12 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]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107244m	[env.py: 870]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:24:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34620315 -0.98459036 -0.10724412] yaw=-52.7deg	[env.py: 1019]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:24:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=316.0ms, total=316.1ms	[env.py: 1075]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -0.985, -0.107)	[env.py: 1079]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg	[env.py: 1082]
+05/11 19:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/11 19:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:24:13 INFO: [Worker 0] Worker 0 house 1 episode 17/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:24:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:24:13 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]
+05/11 19:24:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:24:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:24:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.348s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:24:15 INFO: [Worker 0] Feasible grasp found 413 (originally 413): w/ 0.216[m] 10.881[deg]	[grasp_sample.py: 539]
+05/11 19:24:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.391s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:24:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.773[m] 96.353[deg]	[grasp_sample.py: 539]
+05/11 19:24:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:24:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:24:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:24:16 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]
+05/11 19:24:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:24:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:24:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:24:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:24:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:24:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:24:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:24:22 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.547[m] 21.407[deg]	[grasp_sample.py: 539]
+05/11 19:24:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:24:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:24:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.50s (batch: 4.07s, save: 11.43s)	[pipeline.py: 300]
+05/11 19:24:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:24:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:23 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.42s:
+  episode_total: mean=184.39s, total=368.79s, count=2, min=159673.1ms, max=209112.4ms
+  sensor_polling: mean=495.0ms, total=228.21s, count=461, min=335.8ms, max=891.8ms
+  physics_step: mean=31.0ms, total=14.30s, count=461, min=21.2ms, max=100.2ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11425.4ms, max=11425.4ms
+  task_sampling: mean=2.21s, total=4.42s, count=2, min=548.8ms, max=3871.4ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4070.4ms, max=4070.4ms
+  scene_load: mean=3.13s, total=3.13s, count=1, min=3126.7ms, max=3126.7ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1775.7ms, max=1775.7ms
+  task_specific_sample: mean=643.7ms, total=1.29s, count=2, min=545.5ms, max=741.9ms
+  scene_compile: mean=1.18s, total=1.18s, count=1, min=1181.4ms, max=1181.4ms
+  compile_mujoco: mean=843.6ms, total=843.6ms, count=1, min=843.6ms, max=843.6ms
+  compile_xml_load: mean=255.6ms, total=255.6ms, count=1, min=255.6ms, max=255.6ms
+  scene_init: mean=112.0ms, total=112.0ms, count=1, min=112.0ms, max=112.0ms
+  compile_aux_objects: mean=62.5ms, total=62.5ms, count=1, min=62.5ms, max=62.5ms
+  compile_aux_policy_objects: mean=62.4ms, total=62.4ms, count=1, min=62.4ms, max=62.4ms
+  scene_asset_install: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms
+  asset_install_grasps: mean=37.9ms, total=37.9ms, count=1, min=37.9ms, max=37.9ms
+  asset_install_objects: mean=15.7ms, total=15.7ms, count=1, min=15.7ms, max=15.7ms
+  compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.1ms, max=1.7ms
+  mj_forward_sync: mean=543.0us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=53.5us, 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]
+05/11 19:24:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:24:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:24:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:24:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:24:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:24:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:24:24 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]
+05/11 19:24:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:24:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113174m	[env.py: 870]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:24:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39957913 -1.03364055 -0.11317442] yaw=-59.4deg	[env.py: 1019]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:24:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=391.1ms, total=391.2ms	[env.py: 1075]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -1.034, -0.113)	[env.py: 1079]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg	[env.py: 1082]
+05/11 19:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/11 19:24:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:24:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:24:25 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]
+05/11 19:24:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:24:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:24:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:24:25 INFO: [Worker 0] Worker 0 house 1 episode 2/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:24:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:24:25 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]
+05/11 19:24:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:24:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:24:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.674s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:24:29 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.672[m] 89.457[deg]	[grasp_sample.py: 539]
+05/11 19:24:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:24:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:24:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:24:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.200s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:24:34 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.502[m] 62.023[deg]	[grasp_sample.py: 539]
+05/11 19:24:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:24:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:24:40 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:24:40 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:24:40 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.83s:
+  episode_total: mean=174.75s, total=174.75s, count=1, min=174751.7ms, max=174751.7ms
+  sensor_polling: mean=476.8ms, total=83.92s, count=176, min=321.9ms, max=712.9ms
+  physics_step: mean=28.9ms, total=5.09s, count=176, min=15.7ms, max=70.3ms
+  task_sampling: mean=831.8ms, total=831.8ms, count=1, min=831.8ms, max=831.8ms
+  task_specific_sample: mean=828.5ms, total=828.5ms, count=1, min=828.5ms, max=828.5ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=689.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:24:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:24:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:24:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:24:42 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]
+05/11 19:24:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:24:42 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]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139952m	[env.py: 870]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:24:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24018663 -0.99131626 -0.13995155] yaw=-35.7deg	[env.py: 1019]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:24:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=329.2ms, total=329.3ms	[env.py: 1075]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.240, -0.991, -0.140)	[env.py: 1079]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.7 deg	[env.py: 1082]
+05/11 19:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/11 19:24:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:24:43 INFO: [Worker 0] Worker 0 house 1 episode 4/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:24:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:24:43 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]
+05/11 19:24:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:24:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.947s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:24:45 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:24:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:24:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:24:47 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]
+05/11 19:24:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:24:47 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]
+05/11 19:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106778m	[env.py: 870]
+05/11 19:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:24:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24391775 -1.02057179 -0.10677848] yaw=-52.0deg	[env.py: 1019]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:24:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=247.6ms, total=247.7ms	[env.py: 1075]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.244, -1.021, -0.107)	[env.py: 1079]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg	[env.py: 1082]
+05/11 19:24:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/11 19:24:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:24:48 INFO: [Worker 0] Worker 0 house 1 episode 5/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:24:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:24:48 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]
+05/11 19:24:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:24:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.114s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:24:51 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 19:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:24:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:24:52 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:24:52 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:24:52 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.57s:
+  episode_total: mean=122.22s, total=122.22s, count=1, min=122224.3ms, max=122224.3ms
+  sensor_polling: mean=476.4ms, total=38.59s, count=81, min=342.0ms, max=665.7ms
+  physics_step: mean=26.5ms, total=2.14s, count=81, min=14.4ms, max=55.5ms
+  task_sampling: mean=566.9ms, total=566.9ms, count=1, min=566.9ms, max=566.9ms
+  task_specific_sample: mean=561.9ms, total=561.9ms, count=1, min=561.9ms, max=561.9ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=729.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=18.9us, 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]
+05/11 19:24:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:24:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:24:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:24:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:24:53 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]
+05/11 19:24:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:24:53 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]
+05/11 19:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164671m	[env.py: 870]
+05/11 19:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:24:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=277.1ms, total=277.1ms	[env.py: 1105]
+05/11 19:24:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:24:53 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]
+05/11 19:24:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:24:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:24:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:24:54 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]
+05/11 19:24:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:24:54 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]
+05/11 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143627m	[env.py: 870]
+05/11 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:24:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:24:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:24:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:24:55 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]
+05/11 19:24:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:24:55 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]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101155m	[env.py: 870]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:24:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4842     -0.73987198 -0.10115517] yaw=-60.2deg	[env.py: 1019]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51888656 -0.92605841 -0.10115517] yaw=-61.1deg	[env.py: 1019]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=889.0ms, total=889.0ms	[env.py: 1105]
+05/11 19:24:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:24:55 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38482544 -0.79949742 -0.10115517] yaw=-64.2deg	[env.py: 1019]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:24:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=371.2ms, total=371.3ms	[env.py: 1075]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -0.740, -0.101)	[env.py: 1079]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg	[env.py: 1082]
+05/11 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/11 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:24:55 INFO: [Worker 0] Worker 0 house 1 episode 7/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:24:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:24:55 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]
+05/11 19:24:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:24:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:24:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:24:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:24:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:24:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:24:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:24:57 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]
+05/11 19:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191333m	[env.py: 870]
+05/11 19:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:24:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=415.3ms, total=415.3ms	[env.py: 1105]
+05/11 19:24:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:24:57 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]
+05/11 19:24:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.856s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:24:57 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:24:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:24:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:24:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:24:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:24:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:24:59 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]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134454m	[env.py: 870]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:24:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22206418 -1.16095947 -0.13445352] yaw=-31.3deg	[env.py: 1019]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:24:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:24:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:24:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:24:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:24:59 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]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196555m	[env.py: 870]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:24:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38039107 -1.14568926 -0.19655497] yaw=-55.4deg	[env.py: 1019]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48521848 -0.893387   -0.19655497] yaw=-60.2deg	[env.py: 1019]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35338139 -1.05718385 -0.19655497] yaw=-38.8deg	[env.py: 1019]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:24:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=382.6ms, total=382.7ms	[env.py: 1075]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -1.146, -0.197)	[env.py: 1079]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.4 deg	[env.py: 1082]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:24:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=545.1ms, total=545.2ms	[env.py: 1075]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.222, -1.161, -0.134)	[env.py: 1079]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.3 deg	[env.py: 1082]
+05/11 19:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:25:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:25:00 INFO: [Worker 0] Worker 0 house 1 episode 8/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:25:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:25:00 INFO: [Worker 0] Worker 0 house 1 episode 4/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:25:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:25:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:25:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:25:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:25:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:25:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:25:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.673s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:25:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.631[m] 91.247[deg]	[grasp_sample.py: 539]
+05/11 19:25:04 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:25:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:25:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:25:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:25:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:25:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:25:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:25:05 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]
+05/11 19:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142453m	[env.py: 870]
+05/11 19:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:25:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=312.6ms, total=312.6ms	[env.py: 1105]
+05/11 19:25:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:25:06 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]
+05/11 19:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:25:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:25:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:25:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:25:07 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]
+05/11 19:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:25:07 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]
+05/11 19:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166391m	[env.py: 870]
+05/11 19:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=236.4ms, total=236.5ms	[env.py: 1105]
+05/11 19:25:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:25:07 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:25:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.099s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:25:08 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.743[m] 92.844[deg]	[grasp_sample.py: 539]
+05/11 19:25:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:25:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:25:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:25:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:25:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:25:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:25:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:25:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:25:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:25:09 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]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153167m	[env.py: 870]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:25:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33493544 -1.02976408 -0.15316701] yaw=-44.1deg	[env.py: 1019]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:25:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:25:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=381.9ms, total=382.0ms	[env.py: 1075]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.030, -0.153)	[env.py: 1079]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg	[env.py: 1082]
+05/11 19:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/11 19:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:25:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:25:10 INFO: [Worker 0] Worker 0 house 1 episode 11/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:25:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:25:10 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]
+05/11 19:25:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:25:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:25:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.965s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:25:12 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.722[m] 87.815[deg]	[grasp_sample.py: 539]
+05/11 19:25:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:25:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:25:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:25:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:25:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:25:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:25:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:25:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:25:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:26:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:26:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:26:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:26:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:26:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:26:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:26:53 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:26:56 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:27:21 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:27:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 19:27:21 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/11 19:27:23 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:27:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 19:27:23 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/11 19:27:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:27:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:27:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.73s (batch: 3.59s, save: 11.13s)	[pipeline.py: 300]
+05/11 19:27:36 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.80s:
+  episode_total: mean=191.80s, total=191.80s, count=1, min=191801.3ms, max=191801.3ms
+  sensor_polling: mean=504.1ms, total=134.61s, count=267, min=342.7ms, max=809.1ms
+  save_trajectories: mean=11.13s, total=11.13s, count=1, min=11134.8ms, max=11134.8ms
+  physics_step: mean=31.9ms, total=8.52s, count=267, min=16.5ms, max=123.5ms
+  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3592.5ms, max=3592.5ms
+  task_sampling: mean=798.6ms, total=798.6ms, count=1, min=798.6ms, max=798.6ms
+  task_specific_sample: mean=793.3ms, total=793.3ms, count=1, min=793.3ms, max=793.3ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=697.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=28.7us, 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]
+05/11 19:27:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:27:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:27:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:27:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:27:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:27:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:27:38 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]
+05/11 19:27:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:27:38 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]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195165m	[env.py: 870]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:27:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50448792 -1.03234861 -0.19516517] yaw=-57.0deg	[env.py: 1019]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:27:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=825.6ms, total=825.7ms	[env.py: 1075]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -1.032, -0.195)	[env.py: 1079]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg	[env.py: 1082]
+05/11 19:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/11 19:27:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:27:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:27:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:27:39 INFO: [Worker 0] Worker 0 house 1 episode 3/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:27:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:27:39 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]
+05/11 19:27:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:27:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:27:41 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:27:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.193s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:27:41 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.624[m] 78.736[deg]	[grasp_sample.py: 539]
+05/11 19:27:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:27:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:27:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:27:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 18.11s (batch: 4.32s, save: 13.78s)	[pipeline.py: 300]
+05/11 19:27:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:27:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:27:42 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:27:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:27:42 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.67s:
+  episode_total: mean=210.20s, total=210.20s, count=1, min=210203.5ms, max=210203.5ms
+  sensor_polling: mean=492.9ms, total=144.43s, count=293, min=294.2ms, max=932.2ms
+  save_trajectories: mean=13.78s, total=13.78s, count=1, min=13783.0ms, max=13783.0ms
+  physics_step: mean=32.3ms, total=9.46s, count=293, min=21.2ms, max=103.4ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4325.0ms, max=4325.0ms
+  task_sampling: mean=671.0ms, total=671.0ms, count=1, min=671.0ms, max=671.0ms
+  task_specific_sample: mean=666.0ms, total=666.0ms, count=1, min=666.0ms, max=666.0ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=639.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:27:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:27:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:27:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:27:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:27:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:27:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:27:44 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]
+05/11 19:27:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:27:44 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]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146769m	[env.py: 870]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:27:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58962716 -0.97312205 -0.14676876] yaw=-69.4deg	[env.py: 1019]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:27:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=279.5ms, total=279.6ms	[env.py: 1075]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.973, -0.147)	[env.py: 1079]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.4 deg	[env.py: 1082]
+05/11 19:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/11 19:27:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:27:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:27:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:27:45 INFO: [Worker 0] Worker 0 house 1 episode 18/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:27:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:27:45 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]
+05/11 19:27:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:27:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.171s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:27:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.564s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:27:47 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.653[m] 92.156[deg]	[grasp_sample.py: 539]
+05/11 19:27:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:27:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:27:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:08 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:28:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 19:28:08 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/11 19:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:13 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:28:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 19:28:13 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/11 19:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:28:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:28:20 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]
+05/11 19:28:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:28:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:28:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:28:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:28:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:28:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:28:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:28:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:28:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.487[m] 64.284[deg]	[grasp_sample.py: 539]
+05/11 19:28:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:28:24 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.486[m] 52.638[deg]	[grasp_sample.py: 539]
+05/11 19:28:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:28:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:28:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:28:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.33s (batch: 4.38s, save: 11.95s)	[pipeline.py: 300]
+05/11 19:28:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:28:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:28:25 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=3.11s:
+  episode_total: mean=26.42s, total=211.39s, count=8, min=247.6ms, max=196194.4ms
+  sensor_polling: mean=488.2ms, total=136.71s, count=280, min=339.8ms, max=715.9ms
+  save_trajectories: mean=11.95s, total=11.95s, count=1, min=11954.8ms, max=11954.8ms
+  physics_step: mean=31.0ms, total=8.67s, count=280, min=18.8ms, max=140.4ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4375.6ms, max=4375.6ms
+  task_specific_sample: mean=492.2ms, total=3.94s, count=8, min=243.8ms, max=676.6ms
+  task_sampling: mean=621.3ms, total=3.11s, count=5, min=523.4ms, max=679.7ms
+  task_sampling_failed: mean=288.6ms, total=865.9ms, count=3, min=247.6ms, max=321.8ms
+  scene_randomize: mean=1.4ms, total=10.9ms, count=8, min=1.0ms, max=1.6ms
+  mj_forward_sync: mean=620.5us, total=5.0ms, count=8, min=0.4ms, max=0.7ms
+  policy_setup: mean=20.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:28:26 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:28:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:28:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:28:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:28:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:28:27 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]
+05/11 19:28:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:28:27 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]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125543m	[env.py: 870]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:28:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31019386 -1.11845868 -0.12554304] yaw=-49.6deg	[env.py: 1019]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:28:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:28:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:28:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:28:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:28:27 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]
+05/11 19:28:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:28:27 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]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130189m	[env.py: 870]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:28:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:28:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=619.7ms, total=619.8ms	[env.py: 1075]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -1.118, -0.126)	[env.py: 1079]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg	[env.py: 1082]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:28:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:28:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:28:28 INFO: [Worker 0] Worker 0 house 1 episode 12/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:28:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:28:28 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]
+05/11 19:28:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:28:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=545.0ms, total=545.1ms	[env.py: 1105]
+05/11 19:28:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:28:28 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:28:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:28:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:28:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:28:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.49s (batch: 4.69s, save: 11.80s)	[pipeline.py: 300]
+05/11 19:28:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:28:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:28:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:28:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:28:30 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]
+05/11 19:28:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:28:30 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]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140742m	[env.py: 870]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:28:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2484651  -1.00370097 -0.14074221] yaw=-41.5deg	[env.py: 1019]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:28:30 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.80s:
+  episode_total: mean=70.86s, total=212.57s, count=3, min=427.0ms, max=211235.6ms
+  sensor_polling: mean=490.3ms, total=140.73s, count=287, min=366.9ms, max=759.3ms
+  save_trajectories: mean=11.80s, total=11.80s, count=1, min=11797.8ms, max=11797.8ms
+  physics_step: mean=32.5ms, total=9.34s, count=287, min=21.7ms, max=115.7ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4688.0ms, max=4688.0ms
+  task_specific_sample: mean=706.6ms, total=2.12s, count=3, min=423.6ms, max=897.2ms
+  task_sampling_failed: mean=664.8ms, total=1.33s, count=2, min=427.0ms, max=902.6ms
+  task_sampling: mean=801.5ms, total=801.5ms, count=1, min=801.5ms, max=801.5ms
+  scene_randomize: mean=1.4ms, total=4.1ms, count=3, min=1.1ms, max=1.8ms
+  mj_forward_sync: mean=570.9us, total=1.7ms, count=3, min=0.5ms, max=0.7ms
+  policy_setup: mean=16.3us, 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]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:28:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=614.2ms, total=614.3ms	[env.py: 1075]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.248, -1.004, -0.141)	[env.py: 1079]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg	[env.py: 1082]
+05/11 19:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/11 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:28:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:28:31 INFO: [Worker 0] Worker 0 house 1 episode 5/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:28:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:28:31 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]
+05/11 19:28:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:28:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:28:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:28:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:28:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:28:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:28:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:28:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:28:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:28:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:28:32 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]
+05/11 19:28:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:28:32 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]
+05/11 19:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100884m	[env.py: 870]
+05/11 19:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:28:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=248.8ms, total=248.9ms	[env.py: 1105]
+05/11 19:28:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:28:32 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:28:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:28:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:28:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:28:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:28:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:28:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:28:34 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]
+05/11 19:28:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:28:34 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]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173666m	[env.py: 870]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:28:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3232298  -1.09398136 -0.17366629] yaw=-48.2deg	[env.py: 1019]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39995633 -1.00276537 -0.17366629] yaw=-62.0deg	[env.py: 1019]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50163341 -0.90499921 -0.17366629] yaw=-52.8deg	[env.py: 1019]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:28:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=109.3ms, total=109.4ms	[env.py: 1075]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -1.094, -0.174)	[env.py: 1079]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg	[env.py: 1082]
+05/11 19:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/11 19:28:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:28:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:28:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:28:34 INFO: [Worker 0] Worker 0 house 1 episode 6/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:28:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:28:34 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]
+05/11 19:28:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:28:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:28:36 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.727[m] 92.936[deg]	[grasp_sample.py: 539]
+05/11 19:28:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.965s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:28:36 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.640[m] 83.945[deg]	[grasp_sample.py: 539]
+05/11 19:28:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:28:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:28:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:28:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:38 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:28:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:28:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:28:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:28:40 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]
+05/11 19:28:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:28:40 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]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164159m	[env.py: 870]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:28:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32032745 -1.23695165 -0.1641589 ] yaw=-35.8deg	[env.py: 1019]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:28:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=244.6ms, total=244.7ms	[env.py: 1075]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.320, -1.237, -0.164)	[env.py: 1079]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.8 deg	[env.py: 1082]
+05/11 19:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
+05/11 19:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:28:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:28:40 INFO: [Worker 0] Worker 0 house 1 episode 7/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:28:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:28:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:28:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:28:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:28:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:28:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:28:42 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]
+05/11 19:28:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:28:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:28:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:28:42 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.616[m] 87.361[deg]	[grasp_sample.py: 539]
+05/11 19:28:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:28:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:28:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:28:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.033s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:28:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.487[m] 64.284[deg]	[grasp_sample.py: 539]
+05/11 19:28:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:28:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:28:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.050s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:28:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.762[m] 90.965[deg]	[grasp_sample.py: 539]
+05/11 19:28:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:28:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:28:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:28:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:28:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:29:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:29:01 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]
+05/11 19:29:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:29:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:29:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.154s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:29:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.487[m] 64.284[deg]	[grasp_sample.py: 539]
+05/11 19:29:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:29:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:29:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:29:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:29:22 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:29:22 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:29:22 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=False episode_total=0.84s:
+  episode_total: mean=98.36s, total=98.36s, count=1, min=98358.4ms, max=98358.4ms
+  sensor_polling: mean=492.3ms, total=36.92s, count=75, min=334.1ms, max=873.2ms
+  physics_step: mean=26.1ms, total=1.96s, count=75, min=14.5ms, max=65.7ms
+  task_sampling: mean=835.1ms, total=835.1ms, count=1, min=835.1ms, max=835.1ms
+  task_specific_sample: mean=830.7ms, total=830.7ms, count=1, min=830.7ms, max=830.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=617.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.0us, 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]
+05/11 19:29:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:29:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:29:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:29:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:29:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:29:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:29:24 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]
+05/11 19:29:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:29:24 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]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151714m	[env.py: 870]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:29:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49997761 -0.84628014 -0.15171405] yaw=-65.4deg	[env.py: 1019]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:29:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=446.8ms, total=446.8ms	[env.py: 1075]
+05/11 19:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.500, -0.846, -0.152)	[env.py: 1079]
+05/11 19:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg	[env.py: 1082]
+05/11 19:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/11 19:29:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:29:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:29:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:29:25 INFO: [Worker 0] Worker 0 house 1 episode 19/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:29:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:29:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:29:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:29:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:29:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.790s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:29:40 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.782[m] 83.546[deg]	[grasp_sample.py: 539]
+05/11 19:29:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:29:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:29:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:29:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:29:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:29:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:29:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:30:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:30:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:30:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:30:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:30:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:30:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:30:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:30:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:30:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:30:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:30:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:30:44 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]
+05/11 19:30:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:30:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 382 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:30:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.831s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:30:55 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 19:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:30:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:30:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:30:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156234m	[env.py: 870]
+05/11 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=259.6ms, total=259.7ms	[env.py: 1105]
+05/11 19:30:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:30:57 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]
+05/11 19:30:57 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:30:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:30:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:30:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:30:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:30:59 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]
+05/11 19:30:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:30:59 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]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127244m	[env.py: 870]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:30:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56806219 -0.86311231 -0.12724391] yaw=-70.2deg	[env.py: 1019]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41040475 -0.87021871 -0.12724391] yaw=-67.7deg	[env.py: 1019]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:30:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=290.5ms, total=290.6ms	[env.py: 1075]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.568, -0.863, -0.127)	[env.py: 1079]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg	[env.py: 1082]
+05/11 19:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/11 19:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:31:00 INFO: [Worker 0] Worker 0 house 1 episode 7/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:31:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:31:00 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]
+05/11 19:31:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:31:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:31:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.800s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:31:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.745[m] 77.282[deg]	[grasp_sample.py: 539]
+05/11 19:31:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:31:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:31:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:31:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:31:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:31:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:31:03 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]
+05/11 19:31:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:31:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:31:04 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:31:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:31:16 INFO: [Worker 0] Feasible grasp found 387 (originally 387): w/ 0.145[m] 12.512[deg]	[grasp_sample.py: 539]
+05/11 19:31:17 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:31:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:31:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:31:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:31:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:31:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:31:19 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]
+05/11 19:31:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:31:19 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]
+05/11 19:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138783m	[env.py: 870]
+05/11 19:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:31:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=260.2ms, total=260.2ms	[env.py: 1105]
+05/11 19:31:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:31:19 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]
+05/11 19:31:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:31:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:31:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:31:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:31:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:31:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:31:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:31:21 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]
+05/11 19:31:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:31:21 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]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173378m	[env.py: 870]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:31:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56210739 -0.84410567 -0.17337778] yaw=-64.7deg	[env.py: 1019]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:31:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=513.3ms, total=513.3ms	[env.py: 1075]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.562, -0.844, -0.173)	[env.py: 1079]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg	[env.py: 1082]
+05/11 19:31:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/11 19:31:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:31:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:31:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:31:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:31:22 INFO: [Worker 0] Worker 0 house 1 episode 21/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:31:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:31:22 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]
+05/11 19:31:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:31:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:31:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.250s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:31:23 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.717[m] 78.977[deg]	[grasp_sample.py: 539]
+05/11 19:31:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:31:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:31:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:31:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:31:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 19:31:25 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/11 19:31:35 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:31:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 19:31:35 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/11 19:31:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:31:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:31:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.16s (batch: 3.97s, save: 12.20s)	[pipeline.py: 300]
+05/11 19:31:42 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.98s:
+  episode_total: mean=62.20s, total=186.59s, count=3, min=263.5ms, max=182352.5ms
+  sensor_polling: mean=472.5ms, total=123.80s, count=262, min=353.3ms, max=810.7ms
+  save_trajectories: mean=12.20s, total=12.20s, count=1, min=12196.8ms, max=12196.8ms
+  physics_step: mean=30.8ms, total=8.08s, count=262, min=16.0ms, max=91.3ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3967.1ms, max=3967.1ms
+  task_specific_sample: mean=409.8ms, total=1.23s, count=3, min=257.7ms, max=545.5ms
+  task_sampling: mean=489.1ms, total=978.3ms, count=2, min=429.7ms, max=548.6ms
+  task_sampling_failed: mean=263.5ms, total=263.5ms, count=1, min=263.5ms, max=263.5ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.4ms, max=3.3ms
+  mj_forward_sync: mean=677.1us, total=2.0ms, count=3, min=0.7ms, max=0.7ms
+  policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:31:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:31:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:31:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:31:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:31:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:31:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:31:44 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]
+05/11 19:31:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:31:44 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]
+05/11 19:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190146m	[env.py: 870]
+05/11 19:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:31:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=716.6ms, total=716.6ms	[env.py: 1105]
+05/11 19:31:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:31:44 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:31:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:31:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:31:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:31:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:31:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:31:46 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]
+05/11 19:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178902m	[env.py: 870]
+05/11 19:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:31:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=282.1ms, total=282.1ms	[env.py: 1105]
+05/11 19:31:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:31:46 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]
+05/11 19:31:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:31:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:31:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:31:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:31:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:31:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:31:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:31:48 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]
+05/11 19:31:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:31:48 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]
+05/11 19:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114234m	[env.py: 870]
+05/11 19:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:31:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=231.7ms, total=231.8ms	[env.py: 1105]
+05/11 19:31:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:31:48 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:31:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:31:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:31:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:31:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:31:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:31:50 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]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138749m	[env.py: 870]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:31:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.6147153  -0.98355251 -0.13874937] yaw=-70.2deg	[env.py: 1019]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:31:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=288.8ms, total=288.9ms	[env.py: 1075]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.615, -0.984, -0.139)	[env.py: 1079]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg	[env.py: 1082]
+05/11 19:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/11 19:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:31:50 INFO: [Worker 0] Worker 0 house 1 episode 11/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:31:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:31:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:31:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:31:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:31:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:31:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:31:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.58s (batch: 4.63s, save: 11.95s)	[pipeline.py: 300]
+05/11 19:31:52 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.96s:
+  episode_total: mean=205.14s, total=205.14s, count=1, min=205141.0ms, max=205141.0ms
+  sensor_polling: mean=485.0ms, total=136.27s, count=281, min=338.0ms, max=864.4ms
+  save_trajectories: mean=11.95s, total=11.95s, count=1, min=11946.3ms, max=11946.3ms
+  physics_step: mean=30.5ms, total=8.56s, count=281, min=17.7ms, max=73.2ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4633.6ms, max=4633.6ms
+  task_sampling: mean=963.0ms, total=963.0ms, count=1, min=963.0ms, max=963.0ms
+  task_specific_sample: mean=958.6ms, total=958.6ms, count=1, min=958.6ms, max=958.6ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=601.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.7us, 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]
+05/11 19:31:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.615s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:31:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.618[m] 93.411[deg]	[grasp_sample.py: 539]
+05/11 19:31:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:31:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:31:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:31:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:31:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:31:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:31:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:31:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:31:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:31:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:31:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:31:54 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]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116079m	[env.py: 870]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:31:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48336577 -1.07317584 -0.11607864] yaw=-52.0deg	[env.py: 1019]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49159226 -1.00967051 -0.11607864] yaw=-68.4deg	[env.py: 1019]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:31:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=258.4ms, total=258.4ms	[env.py: 1075]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -1.073, -0.116)	[env.py: 1079]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg	[env.py: 1082]
+05/11 19:31:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/11 19:31:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:31:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:31:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:31:54 INFO: [Worker 0] Worker 0 house 1 episode 13/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:31:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:31:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:31:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:31:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:31:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.833s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:31:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.667[m] 97.669[deg]	[grasp_sample.py: 539]
+05/11 19:31:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:31:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:31:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:32:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:32:26 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]
+05/11 19:32:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:32:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:32:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:32:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:32:30 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]
+05/11 19:32:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:32:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:32:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:32:32 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]
+05/11 19:32:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:32:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:32:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.995s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:32:33 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.522[m] 68.860[deg]	[grasp_sample.py: 539]
+05/11 19:32:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:32:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:32:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:32:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.462s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:32:34 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.539[m] 73.890[deg]	[grasp_sample.py: 539]
+05/11 19:32:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:32:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:32:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.532s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:32:38 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.145[m] 4.556[deg]	[grasp_sample.py: 539]
+05/11 19:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:32:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:32:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:41 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]
+05/11 19:32:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:32:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:32:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.617s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:32:42 INFO: [Worker 0] Feasible grasp found 195 (originally 195): w/ 0.130[m] 15.885[deg]	[grasp_sample.py: 539]
+05/11 19:32:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:32:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:32:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:32:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:32:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:32:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:32:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:32:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:32:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:32:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:32:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:32:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:32:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:32:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.012s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:32:55 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.523[m] 68.881[deg]	[grasp_sample.py: 539]
+05/11 19:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:56 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:32:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.035s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:32:56 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.535[m] 73.145[deg]	[grasp_sample.py: 539]
+05/11 19:32:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:32:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:32:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:32:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:32:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:32:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:32:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:32:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:32:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:32:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:32:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:32:58 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]
+05/11 19:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100008m	[env.py: 870]
+05/11 19:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:32:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:32:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=219.8ms, total=219.8ms	[env.py: 1105]
+05/11 19:32:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:32:58 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]
+05/11 19:32:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.554s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:32:58 INFO: [Worker 0] Feasible grasp found 455 (originally 455): w/ 0.148[m] 17.140[deg]	[grasp_sample.py: 539]
+05/11 19:32:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:32:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:32:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:32:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:32:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:32:59 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]
+05/11 19:32:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:32:59 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]
+05/11 19:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151197m	[env.py: 870]
+05/11 19:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:32:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:32:59 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19134312 -1.03048604 -0.15119748] yaw=-42.4deg	[env.py: 1019]
+05/11 19:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3848611  -0.98393097 -0.15119748] yaw=-62.0deg	[env.py: 1019]
+05/11 19:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:33:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=650.3ms, total=650.4ms	[env.py: 1075]
+05/11 19:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.191, -1.030, -0.151)	[env.py: 1079]
+05/11 19:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg	[env.py: 1082]
+05/11 19:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/11 19:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:33:00 INFO: [Worker 0] Worker 0 house 1 episode 13/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:33:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:33:00 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]
+05/11 19:33:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:33:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:33:00 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]
+05/11 19:33:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:33:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:33:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:33:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:33:01 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]
+05/11 19:33:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:33:01 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]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194745m	[env.py: 870]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:33:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:33:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.719s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:33:01 INFO: [Worker 0] Feasible grasp found 195 (originally 195): w/ 0.109[m] 12.682[deg]	[grasp_sample.py: 539]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59626364 -0.99097109 -0.19474454] yaw=-65.1deg	[env.py: 1019]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2125592  -1.11099997 -0.19474454] yaw=-37.3deg	[env.py: 1019]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:33:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=253.7ms, total=253.8ms	[env.py: 1075]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -0.991, -0.195)	[env.py: 1079]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.1 deg	[env.py: 1082]
+05/11 19:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/11 19:33:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:33:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:33:02 INFO: [Worker 0] Worker 0 house 1 episode 8/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:33:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:33:02 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]
+05/11 19:33:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:33:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:33:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.038s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:33:02 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:33:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.868s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:33:03 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.619[m] 89.204[deg]	[grasp_sample.py: 539]
+05/11 19:33:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:33:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:33:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:33:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:33:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:33:04 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]
+05/11 19:33:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:33:04 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]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140336m	[env.py: 870]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:33:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27616808 -0.94729881 -0.14033576] yaw=-45.4deg	[env.py: 1019]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45748278 -1.02234291 -0.14033576] yaw=-50.9deg	[env.py: 1019]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:33:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=257.5ms, total=257.6ms	[env.py: 1075]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -0.947, -0.140)	[env.py: 1079]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg	[env.py: 1082]
+05/11 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/11 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:33:05 INFO: [Worker 0] Worker 0 house 1 episode 14/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:33:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:33:05 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]
+05/11 19:33:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.851s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:33:07 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:33:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:33:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:33:08 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]
+05/11 19:33:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:33:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156722m	[env.py: 870]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:33:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42149139 -0.84701252 -0.15672187] yaw=-67.1deg	[env.py: 1019]
+05/11 19:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:33:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.1ms, total=258.2ms	[env.py: 1075]
+05/11 19:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -0.847, -0.157)	[env.py: 1079]
+05/11 19:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg	[env.py: 1082]
+05/11 19:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/11 19:33:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:33:09 INFO: [Worker 0] Worker 0 house 1 episode 15/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:33:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:33:09 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]
+05/11 19:33:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:33:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:33:13 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]
+05/11 19:33:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.002s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:33:16 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.780[m] 97.918[deg]	[grasp_sample.py: 539]
+05/11 19:33:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:33:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.154s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:33:17 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.535[m] 73.145[deg]	[grasp_sample.py: 539]
+05/11 19:33:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:33:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:33:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:33:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:33:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:33:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:33:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:33:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.613s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:33:20 INFO: [Worker 0] Feasible grasp found 195 (originally 195): w/ 0.104[m] 11.979[deg]	[grasp_sample.py: 539]
+05/11 19:33:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:33:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:33:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:33:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:33:33 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:33:34 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:33:34 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=0.61s:
+  episode_total: mean=99.99s, total=99.99s, count=1, min=99993.2ms, max=99993.2ms
+  sensor_polling: mean=471.9ms, total=33.51s, count=71, min=368.5ms, max=658.2ms
+  physics_step: mean=25.3ms, total=1.79s, count=71, min=14.5ms, max=41.7ms
+  task_sampling: mean=610.0ms, total=610.0ms, count=1, min=610.0ms, max=610.0ms
+  task_specific_sample: mean=605.2ms, total=605.2ms, count=1, min=605.2ms, max=605.2ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=712.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=21.6us, 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]
+05/11 19:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:33:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:33:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:33:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:33:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:33:35 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]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188281m	[env.py: 870]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:33:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33984829 -1.08668019 -0.18828084] yaw=-44.2deg	[env.py: 1019]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56156502 -0.92576754 -0.18828084] yaw=-62.2deg	[env.py: 1019]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:33:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=243.4ms, total=243.5ms	[env.py: 1075]
+05/11 19:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.340, -1.087, -0.188)	[env.py: 1079]
+05/11 19:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.2 deg	[env.py: 1082]
+05/11 19:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/11 19:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:33:36 INFO: [Worker 0] Worker 0 house 1 episode 14/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:33:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:33:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:33:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.844s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:33:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.681[m] 79.790[deg]	[grasp_sample.py: 539]
+05/11 19:33:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:33:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:33:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:38 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:33:38 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=False episode_total=1.67s:
+  episode_total: mean=83.62s, total=250.87s, count=3, min=270.6ms, max=137392.1ms
+  sensor_polling: mean=456.5ms, total=146.53s, count=321, min=322.4ms, max=688.3ms
+  physics_step: mean=28.5ms, total=9.15s, count=321, min=14.8ms, max=98.9ms
+  task_specific_sample: mean=641.5ms, total=1.92s, count=3, min=266.3ms, max=901.8ms
+  task_sampling: mean=832.8ms, total=1.67s, count=2, min=760.2ms, max=905.4ms
+  task_sampling_failed: mean=270.6ms, total=270.6ms, count=1, min=270.6ms, max=270.6ms
+  scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.3ms, max=1.8ms
+  mj_forward_sync: mean=613.0us, total=1.8ms, count=3, min=0.5ms, max=0.7ms
+  policy_setup: mean=17.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:33:39 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:33:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:33:40 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]
+05/11 19:33:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.188s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:33:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:33:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:33:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:33:40 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]
+05/11 19:33:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:33:40 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]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184270m	[env.py: 870]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:33:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:33:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:33:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:33:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:33:40 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]
+05/11 19:33:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:33:40 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]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163340m	[env.py: 870]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:33:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:33:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=578.5ms, total=578.6ms	[env.py: 1105]
+05/11 19:33:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:33:40 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40386956 -1.07821546 -0.16333988] yaw=-61.3deg	[env.py: 1019]
+05/11 19:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:33:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=454.9ms, total=454.9ms	[env.py: 1075]
+05/11 19:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -1.078, -0.163)	[env.py: 1079]
+05/11 19:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg	[env.py: 1082]
+05/11 19:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/11 19:33:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:33:41 INFO: [Worker 0] Worker 0 house 1 episode 15/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:33:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:33:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:33:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.173s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:33:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:33:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:33:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:33:42 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]
+05/11 19:33:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:33:42 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]
+05/11 19:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151381m	[env.py: 870]
+05/11 19:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:33:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=239.4ms, total=239.5ms	[env.py: 1105]
+05/11 19:33:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:33:42 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]
+05/11 19:33:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:33:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.621[m] 83.029[deg]	[grasp_sample.py: 539]
+05/11 19:33:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:33:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.629s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:33:43 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.467[m] 62.513[deg]	[grasp_sample.py: 539]
+05/11 19:33:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:33:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:33:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:33:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:33:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:33:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:33:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:33:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:33:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:33:44 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]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101194m	[env.py: 870]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:33:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21276711 -0.97040879 -0.10119377] yaw=-49.3deg	[env.py: 1019]
+05/11 19:33:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:33:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=639.4ms, total=639.5ms	[env.py: 1075]
+05/11 19:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.213, -0.970, -0.101)	[env.py: 1079]
+05/11 19:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg	[env.py: 1082]
+05/11 19:33:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/11 19:33:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:33:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:33:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:33:45 INFO: [Worker 0] Worker 0 house 1 episode 24/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:33:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:33:45 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]
+05/11 19:33:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.734s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:33:47 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:33:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:33:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:33:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:33:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:33:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:33:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:33:48 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]
+05/11 19:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153292m	[env.py: 870]
+05/11 19:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:33:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18886829 -1.15012476 -0.15329171] yaw=-42.8deg	[env.py: 1019]
+05/11 19:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:33:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38954986 -0.83176605 -0.15329171] yaw=-59.8deg	[env.py: 1019]
+05/11 19:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:33:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.6ms, total=228.7ms	[env.py: 1075]
+05/11 19:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -1.150, -0.153)	[env.py: 1079]
+05/11 19:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg	[env.py: 1082]
+05/11 19:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/11 19:33:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:33:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:33:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:33:49 INFO: [Worker 0] Worker 0 house 1 episode 25/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:33:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:33:49 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]
+05/11 19:33:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:33:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:33:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.455s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:33:53 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.735[m] 74.188[deg]	[grasp_sample.py: 539]
+05/11 19:33:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:33:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:33:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:33:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:34:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:34:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:34:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:34:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:34:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.748s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:34:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.444[m] 60.648[deg]	[grasp_sample.py: 539]
+05/11 19:34:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:34:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:34:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:34:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:34:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:34:21 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]
+05/11 19:34:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:34:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.331s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:34:26 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.444[m] 60.648[deg]	[grasp_sample.py: 539]
+05/11 19:34:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:34:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:34:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:34:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:34:39 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]
+05/11 19:34:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:34:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:34:42 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:34:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.234s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:34:42 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.163[m] 15.746[deg]	[grasp_sample.py: 539]
+05/11 19:34:43 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:34:43 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=3.26s:
+  episode_total: mean=69.38s, total=416.27s, count=6, min=271.5ms, max=145438.2ms
+  sensor_polling: mean=481.5ms, total=219.56s, count=456, min=308.1ms, max=845.0ms
+  physics_step: mean=28.6ms, total=13.05s, count=456, min=14.5ms, max=78.6ms
+  task_specific_sample: mean=679.8ms, total=4.08s, count=6, min=267.1ms, max=1099.8ms
+  task_sampling: mean=816.2ms, total=3.26s, count=4, min=567.9ms, max=1105.0ms
+  task_sampling_failed: mean=419.6ms, total=839.2ms, count=2, min=271.4ms, max=567.8ms
+  scene_randomize: mean=1.9ms, total=11.1ms, count=6, min=1.4ms, max=3.5ms
+  mj_forward_sync: mean=685.7us, total=4.1ms, count=6, min=0.6ms, max=0.7ms
+  policy_setup: mean=26.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:34:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:34:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:34:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:34:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:34:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:34:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:34:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:34:44 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]
+05/11 19:34:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:34:44 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]
+05/11 19:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173274m	[env.py: 870]
+05/11 19:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:34:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=375.6ms, total=375.7ms	[env.py: 1105]
+05/11 19:34:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:34:45 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]
+05/11 19:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:34:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:34:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:34:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:34:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:34:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:34:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:34:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:34:46 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]
+05/11 19:34:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:34:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124865m	[env.py: 870]
+05/11 19:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:34:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34688028 -1.18669914 -0.1248651 ] yaw=-50.1deg	[env.py: 1019]
+05/11 19:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:34:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=458.6ms, total=458.6ms	[env.py: 1075]
+05/11 19:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -1.187, -0.125)	[env.py: 1079]
+05/11 19:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg	[env.py: 1082]
+05/11 19:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/11 19:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:34:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:34:47 INFO: [Worker 0] Worker 0 house 1 episode 10/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:34:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:34:47 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]
+05/11 19:34:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:34:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.179s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.579s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:34:49 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.677[m] 73.658[deg]	[grasp_sample.py: 539]
+05/11 19:34:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:50 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:34:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:34:50 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]
+05/11 19:34:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:34:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:34:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.166[m] 23.315[deg]	[grasp_sample.py: 539]
+05/11 19:34:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:34:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:34:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:34:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:34:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:34:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:34:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:34:51 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]
+05/11 19:34:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:34:51 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]
+05/11 19:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168760m	[env.py: 870]
+05/11 19:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:34:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.55202831 -0.76682873 -0.16875986] yaw=-70.2deg	[env.py: 1019]
+05/11 19:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:34:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=397.7ms, total=397.8ms	[env.py: 1075]
+05/11 19:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.552, -0.767, -0.169)	[env.py: 1079]
+05/11 19:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg	[env.py: 1082]
+05/11 19:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/11 19:34:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:34:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:34:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:34:52 INFO: [Worker 0] Worker 0 house 1 episode 11/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:34:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:34:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:34:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:34:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:34:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:34:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.816s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:34:54 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:34:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:34:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:34:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:34:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:34:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:34:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:34:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:34:55 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]
+05/11 19:34:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:34:55 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]
+05/11 19:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100819m	[env.py: 870]
+05/11 19:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:34:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=448.2ms, total=448.3ms	[env.py: 1105]
+05/11 19:34:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:34:56 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]
+05/11 19:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:34:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:34:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:34:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:34:57 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]
+05/11 19:34:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:34:57 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]
+05/11 19:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152688m	[env.py: 870]
+05/11 19:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:34:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:34:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=436.8ms, total=436.8ms	[env.py: 1105]
+05/11 19:34:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:34:58 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:35:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:35:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:35:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:35:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:35:00 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]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121661m	[env.py: 870]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:35:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64101573 -0.87044431 -0.12166057] yaw=-66.1deg	[env.py: 1019]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:35:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=539.2ms, total=539.2ms	[env.py: 1075]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.641, -0.870, -0.122)	[env.py: 1079]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg	[env.py: 1082]
+05/11 19:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/11 19:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:35:00 INFO: [Worker 0] Worker 0 house 1 episode 14/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:35:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:35:00 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]
+05/11 19:35:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:35:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:35:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:35:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:35:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:35:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:35:04 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.157[m] 15.311[deg]	[grasp_sample.py: 539]
+05/11 19:35:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:35:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:35:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.862s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:35:06 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.715[m] 89.439[deg]	[grasp_sample.py: 539]
+05/11 19:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:08 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:35:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:35:09 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]
+05/11 19:35:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:35:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:35:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:35:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:35:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:35:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:35:10 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]
+05/11 19:35:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:35:10 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]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120412m	[env.py: 870]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:35:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16531535 -1.00218644 -0.12041152] yaw=-49.5deg	[env.py: 1019]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52617814 -0.8914559  -0.12041152] yaw=-73.9deg	[env.py: 1019]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45183332 -1.01961642 -0.12041152] yaw=-65.6deg	[env.py: 1019]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:35:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.4ms, total=158.5ms	[env.py: 1075]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.165, -1.002, -0.120)	[env.py: 1079]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg	[env.py: 1082]
+05/11 19:35:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/11 19:35:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:35:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.161[m] 22.409[deg]	[grasp_sample.py: 539]
+05/11 19:35:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:35:10 INFO: [Worker 0] Worker 0 house 1 episode 15/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:35:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:35:10 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]
+05/11 19:35:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:35:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:35:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:35:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:35:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.811s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:35:12 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:35:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:35:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:35:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:35:14 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]
+05/11 19:35:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:35:14 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]
+05/11 19:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189646m	[env.py: 870]
+05/11 19:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:35:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=396.0ms, total=396.1ms	[env.py: 1105]
+05/11 19:35:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:35:14 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:35:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:35:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:35:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:35:16 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]
+05/11 19:35:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:35:16 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]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165234m	[env.py: 870]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:35:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52562554 -0.79990718 -0.16523447] yaw=-73.7deg	[env.py: 1019]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:35:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=308.0ms, total=308.0ms	[env.py: 1075]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.526, -0.800, -0.165)	[env.py: 1079]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.7 deg	[env.py: 1082]
+05/11 19:35:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/11 19:35:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:35:17 INFO: [Worker 0] Worker 0 house 1 episode 17/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:35:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:35:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:35:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:35:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.200s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:35:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:35:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:35:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:35:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:35:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.503s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:35:25 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.157[m] 15.311[deg]	[grasp_sample.py: 539]
+05/11 19:35:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:35:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:35:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:35:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:35:28 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]
+05/11 19:35:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:35:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:35:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:35:29 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.161[m] 22.409[deg]	[grasp_sample.py: 539]
+05/11 19:35:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:35:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:35:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:35:33 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.744[m] 88.234[deg]	[grasp_sample.py: 539]
+05/11 19:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:34 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:35:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:35:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:35:36 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]
+05/11 19:35:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:35:36 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]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182719m	[env.py: 870]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:35:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40531908 -0.99638559 -0.18271866] yaw=-57.2deg	[env.py: 1019]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.55404833 -0.83367475 -0.18271866] yaw=-64.7deg	[env.py: 1019]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:35:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=280.3ms, total=280.3ms	[env.py: 1075]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.405, -0.996, -0.183)	[env.py: 1079]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg	[env.py: 1082]
+05/11 19:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/11 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:35:37 INFO: [Worker 0] Worker 0 house 1 episode 18/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:35:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:35:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:35:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:35:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.180s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:35:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:35:39 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.701[m] 89.667[deg]	[grasp_sample.py: 539]
+05/11 19:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:35:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:35:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:35:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:35:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:35:43 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:35:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=2.59s:
+  episode_total: mean=28.53s, total=228.20s, count=8, min=232.9ms, max=154742.1ms
+  sensor_polling: mean=466.4ms, total=99.34s, count=213, min=323.4ms, max=664.9ms
+  physics_step: mean=27.8ms, total=5.93s, count=213, min=14.3ms, max=102.3ms
+  task_specific_sample: mean=507.1ms, total=4.06s, count=8, min=227.5ms, max=907.5ms
+  task_sampling: mean=647.0ms, total=2.59s, count=4, min=517.6ms, max=911.1ms
+  task_sampling_failed: mean=380.4ms, total=1.52s, count=4, min=232.9ms, max=754.6ms
+  scene_randomize: mean=1.7ms, total=13.7ms, count=8, min=1.2ms, max=3.4ms
+  mj_forward_sync: mean=642.3us, total=5.1ms, count=8, min=0.4ms, max=0.7ms
+  policy_setup: mean=18.6us, total=0.1ms, count=4, 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]
+05/11 19:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:35:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:35:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:35:45 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]
+05/11 19:35:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:35:45 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]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133255m	[env.py: 870]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:35:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51262153 -0.83044182 -0.13325531] yaw=-60.0deg	[env.py: 1019]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3514215  -0.81943624 -0.13325531] yaw=-50.0deg	[env.py: 1019]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:35:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=281.8ms, total=281.8ms	[env.py: 1075]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.830, -0.133)	[env.py: 1079]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg	[env.py: 1082]
+05/11 19:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/11 19:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:35:45 INFO: [Worker 0] Worker 0 house 1 episode 16/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:35:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:35:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:35:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:35:46 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]
+05/11 19:35:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:35:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:35:46 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:35:46 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=1.29s:
+  episode_total: mean=64.46s, total=128.92s, count=2, min=3305.3ms, max=125617.1ms
+  sensor_polling: mean=504.1ms, total=68.05s, count=135, min=334.4ms, max=840.5ms
+  physics_step: mean=28.3ms, total=3.83s, count=135, min=14.5ms, max=58.6ms
+  task_sampling: mean=646.1ms, total=1.29s, count=2, min=547.0ms, max=745.2ms
+  task_specific_sample: mean=642.3ms, total=1.28s, count=2, min=542.9ms, max=741.6ms
+  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.5ms, max=1.6ms
+  mj_forward_sync: mean=664.1us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:35:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:35:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:35:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:35:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:35:48 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]
+05/11 19:35:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:35:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127866m	[env.py: 870]
+05/11 19:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:35:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=220.7ms, total=220.7ms	[env.py: 1105]
+05/11 19:35:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:35:48 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:35:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:35:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:35:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:35:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:35:50 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]
+05/11 19:35:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:35:50 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]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130920m	[env.py: 870]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:35:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42615663 -0.96554743 -0.13091988] yaw=-44.5deg	[env.py: 1019]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:35:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=339.9ms, total=339.9ms	[env.py: 1075]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.966, -0.131)	[env.py: 1079]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg	[env.py: 1082]
+05/11 19:35:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/11 19:35:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:35:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:35:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:35:50 INFO: [Worker 0] Worker 0 house 1 episode 17/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:35:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:35:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:35:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:35:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:35:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.251s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:35:56 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.723[m] 80.619[deg]	[grasp_sample.py: 539]
+05/11 19:35:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:35:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:35:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:35:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:36:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.465s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:36:05 INFO: [Worker 0] Feasible grasp found 397 (originally 397): w/ 0.798[m] 96.150[deg]	[grasp_sample.py: 539]
+05/11 19:36:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:36:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:36:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:36:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:36:14 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:36:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:36:45 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:36:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 19:36:45 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/11 19:36:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:37:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:37:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:37:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 17.44s (batch: 4.40s, save: 13.04s)	[pipeline.py: 300]
+05/11 19:37:03 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=1.43s:
+  episode_total: mean=49.64s, total=198.57s, count=4, min=251.2ms, max=194713.7ms
+  sensor_polling: mean=462.5ms, total=129.50s, count=280, min=319.5ms, max=768.8ms
+  save_trajectories: mean=13.04s, total=13.04s, count=1, min=13037.6ms, max=13037.6ms
+  physics_step: mean=30.7ms, total=8.60s, count=280, min=21.0ms, max=88.1ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.8ms, max=4401.8ms
+  task_specific_sample: mean=564.0ms, total=2.26s, count=4, min=246.4ms, max=979.1ms
+  task_sampling: mean=713.9ms, total=1.43s, count=2, min=446.0ms, max=981.9ms
+  task_sampling_failed: mean=421.2ms, total=842.3ms, count=2, min=251.1ms, max=591.2ms
+  scene_randomize: mean=1.4ms, total=5.4ms, count=4, min=1.0ms, max=1.9ms
+  mj_forward_sync: mean=537.3us, total=2.1ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:37:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:37:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:37:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:37:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:37:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:37:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:37:05 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]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161091m	[env.py: 870]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:37:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.49636865 -0.8961316  -0.16109144] yaw=-51.5deg	[env.py: 1019]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:37:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=702.3ms, total=702.4ms	[env.py: 1075]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.896, -0.161)	[env.py: 1079]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg	[env.py: 1082]
+05/11 19:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/11 19:37:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:37:06 INFO: [Worker 0] Worker 0 house 1 episode 26/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:37:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:37:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:37:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:37:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:37:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:37:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:37:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.979s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:37:11 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.744[m] 91.344[deg]	[grasp_sample.py: 539]
+05/11 19:37:13 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:37:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:37:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:37:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:37:14 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]
+05/11 19:37:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:37:14 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]
+05/11 19:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163703m	[env.py: 870]
+05/11 19:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:37:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=938.9ms, total=939.0ms	[env.py: 1105]
+05/11 19:37:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:37:15 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:37:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:37:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:37:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:37:17 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]
+05/11 19:37:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:37:17 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]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194898m	[env.py: 870]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:37:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31821521 -0.89516496 -0.19489758] yaw=-58.5deg	[env.py: 1019]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21933265 -1.16905949 -0.19489758] yaw=-37.9deg	[env.py: 1019]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:37:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=285.4ms, total=285.4ms	[env.py: 1075]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.318, -0.895, -0.195)	[env.py: 1079]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg	[env.py: 1082]
+05/11 19:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/11 19:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:37:17 INFO: [Worker 0] Worker 0 house 1 episode 28/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:37:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:37:17 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]
+05/11 19:37:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:37:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.239s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:37:21 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 19:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:37:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:37:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:37:22 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]
+05/11 19:37:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:37:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158388m	[env.py: 870]
+05/11 19:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:37:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=451.4ms, total=451.5ms	[env.py: 1105]
+05/11 19:37:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:37:23 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]
+05/11 19:37:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:37:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:37:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:37:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:37:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:37:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:37:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:37:24 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]
+05/11 19:37:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:37:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105017m	[env.py: 870]
+05/11 19:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:37:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11930946 -1.05225372 -0.10501703] yaw=-35.6deg	[env.py: 1019]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:37:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=260.4ms, total=260.4ms	[env.py: 1075]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.119, -1.052, -0.105)	[env.py: 1079]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.6 deg	[env.py: 1082]
+05/11 19:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
+05/11 19:37:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:37:25 INFO: [Worker 0] Worker 0 house 1 episode 30/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:37:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:37:25 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]
+05/11 19:37:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:37:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:37:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.775s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:37:27 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:37:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:37:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:37:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:37:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:37:29 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]
+05/11 19:37:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:37:29 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]
+05/11 19:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196995m	[env.py: 870]
+05/11 19:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:37:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=384.7ms, total=384.8ms	[env.py: 1105]
+05/11 19:37:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:37:29 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:37:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:37:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:37:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:37:30 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]
+05/11 19:37:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:37:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117772m	[env.py: 870]
+05/11 19:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:37:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45588288 -0.97947395 -0.11777223] yaw=-46.4deg	[env.py: 1019]
+05/11 19:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50447745 -0.7620771  -0.11777223] yaw=-63.2deg	[env.py: 1019]
+05/11 19:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:37:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=463.2ms, total=463.3ms	[env.py: 1075]
+05/11 19:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -0.979, -0.118)	[env.py: 1079]
+05/11 19:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg	[env.py: 1082]
+05/11 19:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/11 19:37:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:37:31 INFO: [Worker 0] Worker 0 house 1 episode 32/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:37:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:37:31 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]
+05/11 19:37:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:37:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:37:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:37:32 INFO: [Worker 0] Feasible grasp found 384 (originally 384): w/ 0.118[m] 16.207[deg]	[grasp_sample.py: 539]
+05/11 19:37:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:37:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:37:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:37:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:37:35 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.731[m] 97.076[deg]	[grasp_sample.py: 539]
+05/11 19:37:36 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:37:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:37:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:37:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:37:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:37:38 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]
+05/11 19:37:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:37:38 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]
+05/11 19:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143152m	[env.py: 870]
+05/11 19:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:37:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=358.0ms, total=358.1ms	[env.py: 1105]
+05/11 19:37:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:37:38 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:37:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:37:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:37:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:37:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:37:40 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]
+05/11 19:37:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:37:40 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]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167730m	[env.py: 870]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:37:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:37:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3355417  -0.90376575 -0.16772975] yaw=-53.4deg	[env.py: 1019]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52129921 -0.93344626 -0.16772975] yaw=-65.3deg	[env.py: 1019]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:37:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=381.0ms, total=381.1ms	[env.py: 1075]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.336, -0.904, -0.168)	[env.py: 1079]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg	[env.py: 1082]
+05/11 19:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/11 19:37:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:37:40 INFO: [Worker 0] Worker 0 house 1 episode 34/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:37:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:37:40 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]
+05/11 19:37:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:37:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:37:43 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]
+05/11 19:37:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:37:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.684s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:37:48 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.167[m] 14.516[deg]	[grasp_sample.py: 539]
+05/11 19:37:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:37:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:37:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:37:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.579s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:37:49 INFO: [Worker 0] Feasible grasp found 166 (originally 166): w/ 0.782[m] 93.871[deg]	[grasp_sample.py: 539]
+05/11 19:37:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:37:51 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:37:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:37:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:37:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:37:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:37:52 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]
+05/11 19:37:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:37:52 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]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195681m	[env.py: 870]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:37:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3807843  -1.1064158  -0.19568093] yaw=-44.3deg	[env.py: 1019]
+05/11 19:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:37:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=380.9ms, total=381.0ms	[env.py: 1075]
+05/11 19:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -1.106, -0.196)	[env.py: 1079]
+05/11 19:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg	[env.py: 1082]
+05/11 19:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/11 19:37:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:37:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:37:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:37:53 INFO: [Worker 0] Worker 0 house 1 episode 35/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:37:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:37:53 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]
+05/11 19:37:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:37:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:37:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:37:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.812s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:37:55 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.644[m] 87.714[deg]	[grasp_sample.py: 539]
+05/11 19:37:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:37:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:37:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:37:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:37:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:37:56 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]
+05/11 19:37:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:37:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:37:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.188s, found 329 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:38:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:38:03 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]
+05/11 19:38:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:38:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:38:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.514s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:38:05 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 19:38:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:06 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]
+05/11 19:38:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190761m	[env.py: 870]
+05/11 19:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=280.6ms, total=280.7ms	[env.py: 1105]
+05/11 19:38:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:38:07 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:38:08 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:38:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:38:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:08 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]
+05/11 19:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175492m	[env.py: 870]
+05/11 19:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=236.3ms, total=236.4ms	[env.py: 1105]
+05/11 19:38:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:38:09 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:38:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:10 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]
+05/11 19:38:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:10 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]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191691m	[env.py: 870]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2967927  -1.02023057 -0.19169057] yaw=-49.9deg	[env.py: 1019]
+05/11 19:38:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:38:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=390.1ms, total=390.2ms	[env.py: 1075]
+05/11 19:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.020, -0.192)	[env.py: 1079]
+05/11 19:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg	[env.py: 1082]
+05/11 19:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/11 19:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:38:11 INFO: [Worker 0] Worker 0 house 1 episode 19/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:38:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:38:11 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]
+05/11 19:38:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:38:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:38:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.755s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:38:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.707[m] 72.332[deg]	[grasp_sample.py: 539]
+05/11 19:38:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:38:14 INFO: [Worker 0] Feasible grasp found 238 (originally 238): w/ 0.185[m] 12.636[deg]	[grasp_sample.py: 539]
+05/11 19:38:14 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:38:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:38:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:38:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:38:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:16 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]
+05/11 19:38:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:16 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]
+05/11 19:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190124m	[env.py: 870]
+05/11 19:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=315.5ms, total=315.6ms	[env.py: 1105]
+05/11 19:38:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:38:16 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]
+05/11 19:38:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:18 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]
+05/11 19:38:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:18 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]
+05/11 19:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131915m	[env.py: 870]
+05/11 19:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=479.2ms, total=479.2ms	[env.py: 1105]
+05/11 19:38:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:38:18 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]
+05/11 19:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:20 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]
+05/11 19:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:20 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]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114760m	[env.py: 870]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38940934 -1.10790848 -0.11476038] yaw=-47.6deg	[env.py: 1019]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=316.0ms, total=316.0ms	[env.py: 1075]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.389, -1.108, -0.115)	[env.py: 1079]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/11 19:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/11 19:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:38:21 INFO: [Worker 0] Worker 0 house 1 episode 22/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:38:21 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]
+05/11 19:38:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:38:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:38:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.897s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:38:23 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.690[m] 88.025[deg]	[grasp_sample.py: 539]
+05/11 19:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:38:24 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:38:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:38:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:26 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]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198425m	[env.py: 870]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57221888 -0.84445062 -0.19842524] yaw=-73.6deg	[env.py: 1019]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=379.4ms, total=379.4ms	[env.py: 1075]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.844, -0.198)	[env.py: 1079]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.6 deg	[env.py: 1082]
+05/11 19:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/11 19:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:38:27 INFO: [Worker 0] Worker 0 house 1 episode 23/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:38:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:38:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:38:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:38:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:38:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:38:28 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:38:28 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure)	[task_sampler.py: 396]
+05/11 19:38:28 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.61s:
+  episode_total: mean=79.20s, total=158.41s, count=2, min=231.6ms, max=158176.6ms
+  sensor_polling: mean=481.1ms, total=92.37s, count=192, min=332.7ms, max=814.8ms
+  physics_step: mean=29.9ms, total=5.75s, count=192, min=21.0ms, max=77.7ms
+  task_specific_sample: mean=415.3ms, total=830.6ms, count=2, min=227.6ms, max=602.9ms
+  task_sampling: mean=605.8ms, total=605.8ms, count=1, min=605.8ms, max=605.8ms
+  task_sampling_failed: mean=231.6ms, total=231.6ms, count=1, min=231.6ms, max=231.6ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.0ms, max=1.4ms
+  mj_forward_sync: mean=509.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=12.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:38:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:38:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:29 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]
+05/11 19:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186265m	[env.py: 870]
+05/11 19:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25875856 -1.10588937 -0.18626462] yaw=-44.7deg	[env.py: 1019]
+05/11 19:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:38:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=240.5ms, total=240.6ms	[env.py: 1075]
+05/11 19:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.259, -1.106, -0.186)	[env.py: 1079]
+05/11 19:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.7 deg	[env.py: 1082]
+05/11 19:38:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/11 19:38:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:38:30 INFO: [Worker 0] Worker 0 house 1 episode 18/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:38:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:38:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:38:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:38:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:38:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:38:30 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.672[m] 92.095[deg]	[grasp_sample.py: 539]
+05/11 19:38:32 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:38:32 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/11 19:38:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:33 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]
+05/11 19:38:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180659m	[env.py: 870]
+05/11 19:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=508.3ms, total=508.3ms	[env.py: 1105]
+05/11 19:38:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:38:34 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:38:34 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:38:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 19:38:34 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/11 19:38:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:35 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]
+05/11 19:38:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:35 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]
+05/11 19:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124337m	[env.py: 870]
+05/11 19:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=259.1ms, total=259.2ms	[env.py: 1105]
+05/11 19:38:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:38:36 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:38:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:37 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]
+05/11 19:38:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:37 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]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161999m	[env.py: 870]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41992402 -1.06481635 -0.16199883] yaw=-52.2deg	[env.py: 1019]
+05/11 19:38:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:38:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=385.5ms, total=385.6ms	[env.py: 1075]
+05/11 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -1.065, -0.162)	[env.py: 1079]
+05/11 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg	[env.py: 1082]
+05/11 19:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/11 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:38:38 INFO: [Worker 0] Worker 0 house 1 episode 26/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:38:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:38:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:38:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:38:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:38:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:38:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.623[m] 89.610[deg]	[grasp_sample.py: 539]
+05/11 19:38:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:38:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:38:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:38:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.917s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:38:45 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.666[m] 87.741[deg]	[grasp_sample.py: 539]
+05/11 19:38:46 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:38:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:48 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]
+05/11 19:38:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:48 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]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104967m	[env.py: 870]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3415642  -1.0945916  -0.10496729] yaw=-47.6deg	[env.py: 1019]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:38:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=249.4ms, total=249.5ms	[env.py: 1075]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.342, -1.095, -0.105)	[env.py: 1079]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/11 19:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/11 19:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:38:48 INFO: [Worker 0] Worker 0 house 1 episode 19/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:38:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:38:48 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]
+05/11 19:38:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:38:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:38:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:38:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:38:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.42s (batch: 3.75s, save: 10.67s)	[pipeline.py: 300]
+05/11 19:38:49 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=3.85s:
+  episode_total: mean=23.09s, total=230.89s, count=10, min=390.5ms, max=193351.4ms
+  sensor_polling: mean=473.9ms, total=130.32s, count=275, min=320.4ms, max=758.9ms
+  save_trajectories: mean=10.67s, total=10.67s, count=1, min=10667.3ms, max=10667.3ms
+  physics_step: mean=31.5ms, total=8.67s, count=275, min=21.4ms, max=95.2ms
+  task_specific_sample: mean=552.2ms, total=5.52s, count=10, min=385.1ms, max=843.9ms
+  task_sampling: mean=641.7ms, total=3.85s, count=6, min=432.6ms, max=846.6ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3751.5ms, max=3751.5ms
+  task_sampling_failed: mean=426.0ms, total=1.70s, count=4, min=390.5ms, max=457.9ms
+  scene_randomize: mean=1.3ms, total=13.4ms, count=10, min=1.0ms, max=1.9ms
+  mj_forward_sync: mean=561.0us, total=5.6ms, count=10, min=0.4ms, max=0.7ms
+  policy_setup: mean=15.6us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:38:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:38:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127532m	[env.py: 870]
+05/11 19:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=347.8ms, total=347.9ms	[env.py: 1105]
+05/11 19:38:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:38:51 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:38:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:38:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127109m	[env.py: 870]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22928478 -0.96576666 -0.12710945] yaw=-53.8deg	[env.py: 1019]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:38:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.6ms, total=251.6ms	[env.py: 1075]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -0.966, -0.127)	[env.py: 1079]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg	[env.py: 1082]
+05/11 19:38:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/11 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:38:53 INFO: [Worker 0] Worker 0 house 1 episode 20/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:38:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:38:53 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]
+05/11 19:38:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:38:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:38:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:38:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.790s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:38:55 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:38:55 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/11 19:38:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:38:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.279s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:38:57 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.751[m] 85.713[deg]	[grasp_sample.py: 539]
+05/11 19:38:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:38:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:38:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:38:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:38:57 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]
+05/11 19:38:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:38:57 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]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190733m	[env.py: 870]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:38:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.12436227 -1.02919969 -0.19073305] yaw=-49.9deg	[env.py: 1019]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56919321 -0.96711139 -0.19073305] yaw=-60.2deg	[env.py: 1019]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5468621  -0.88776857 -0.19073305] yaw=-66.4deg	[env.py: 1019]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:38:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=269.3ms, total=269.4ms	[env.py: 1075]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.124, -1.029, -0.191)	[env.py: 1079]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg	[env.py: 1082]
+05/11 19:38:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/11 19:38:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:38:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:38:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:38:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:38:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:38:57 INFO: [Worker 0] Worker 0 house 1 episode 21/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:38:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:38:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:38:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:38:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:38:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:38:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:38:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:38:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.612s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:38:59 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:39:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:39:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:39:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:39:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:39:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:39:01 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]
+05/11 19:39:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:39:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145974m	[env.py: 870]
+05/11 19:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:39:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:39:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=497.3ms, total=497.3ms	[env.py: 1105]
+05/11 19:39:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:39:01 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:39:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:39:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:39:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:39:03 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]
+05/11 19:39:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:39:03 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]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156751m	[env.py: 870]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:39:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.322225   -1.00098027 -0.15675123] yaw=-38.9deg	[env.py: 1019]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:39:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=406.2ms, total=406.3ms	[env.py: 1075]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.001, -0.157)	[env.py: 1079]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg	[env.py: 1082]
+05/11 19:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/11 19:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:39:03 INFO: [Worker 0] Worker 0 house 1 episode 23/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:39:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:39:03 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]
+05/11 19:39:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:39:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:39:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:39:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:39:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:39:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.849s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:39:05 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.727[m] 83.138[deg]	[grasp_sample.py: 539]
+05/11 19:39:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:39:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:39:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:39:06 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.136[m] 12.512[deg]	[grasp_sample.py: 539]
+05/11 19:39:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:39:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:39:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:39:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:39:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:39:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:39:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:39:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:39:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:39:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:39:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.750s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:39:25 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.136[m] 12.511[deg]	[grasp_sample.py: 539]
+05/11 19:39:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:39:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:39:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:39:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:39:44 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]
+05/11 19:39:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:39:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:39:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:39:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.136[m] 12.511[deg]	[grasp_sample.py: 539]
+05/11 19:39:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:39:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:39:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:39:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:40:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:40:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:40:00 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:40:01 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:40:01 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure)	[task_sampler.py: 396]
+05/11 19:40:01 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=False episode_total=4.02s:
+  episode_total: mean=16.22s, total=162.21s, count=10, min=367.1ms, max=128622.1ms
+  sensor_polling: mean=463.2ms, total=67.63s, count=146, min=319.6ms, max=785.3ms
+  task_specific_sample: mean=616.3ms, total=6.16s, count=10, min=363.5ms, max=984.4ms
+  task_sampling: mean=670.2ms, total=4.02s, count=6, min=505.2ms, max=988.4ms
+  physics_step: mean=27.3ms, total=3.99s, count=146, min=14.7ms, max=55.6ms
+  task_sampling_failed: mean=548.9ms, total=2.20s, count=4, min=367.1ms, max=975.3ms
+  scene_randomize: mean=1.4ms, total=14.0ms, count=10, min=1.0ms, max=2.5ms
+  mj_forward_sync: mean=538.4us, total=5.4ms, count=10, min=0.4ms, max=0.7ms
+  policy_setup: mean=15.4us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:40:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:40:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:40:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:40:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:40:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:40:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:40:03 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]
+05/11 19:40:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:40:03 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]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179927m	[env.py: 870]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:40:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.61093522 -0.79424322 -0.17992695] yaw=-73.1deg	[env.py: 1019]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:40:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=452.7ms, total=452.8ms	[env.py: 1075]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.611, -0.794, -0.180)	[env.py: 1079]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.1 deg	[env.py: 1082]
+05/11 19:40:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/11 19:40:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:40:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:40:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:40:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:40:03 INFO: [Worker 0] Worker 0 house 1 episode 36/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:40:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:40:03 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]
+05/11 19:40:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:40:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:40:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:40:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.874s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:40:05 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.714[m] 82.870[deg]	[grasp_sample.py: 539]
+05/11 19:40:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:40:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:40:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:40:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:40:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:40:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:40:19 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]
+05/11 19:40:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:40:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 342 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:40:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:40:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.128s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:40:26 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.135[m] 6.041[deg]	[grasp_sample.py: 539]
+05/11 19:40:28 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:40:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:40:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:40:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:40:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:40:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:40:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:40:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:40:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:40:30 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]
+05/11 19:40:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:40:30 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]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101606m	[env.py: 870]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:40:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52383453 -0.88452563 -0.10160648] yaw=-71.1deg	[env.py: 1019]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55558588 -0.98747549 -0.10160648] yaw=-58.2deg	[env.py: 1019]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34192213 -0.91722885 -0.10160648] yaw=-58.1deg	[env.py: 1019]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:40:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.7ms, total=185.7ms	[env.py: 1075]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.524, -0.885, -0.102)	[env.py: 1079]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg	[env.py: 1082]
+05/11 19:40:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/11 19:40:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:40:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:40:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:40:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:40:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:40:30 INFO: [Worker 0] Worker 0 house 1 episode 27/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:40:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:40:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:40:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:40:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.166s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:40:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:40:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.420s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:40:34 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.760[m] 81.041[deg]	[grasp_sample.py: 539]
+05/11 19:40:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:40:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:40:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:40:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:40:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:40:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:40:40 INFO: [Worker 0] Object is not in grasp! 0.00192 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:40:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:40:40 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]
+05/11 19:40:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:40:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:40:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.305s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:40:43 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.105[m] 12.302[deg]	[grasp_sample.py: 539]
+05/11 19:40:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:40:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:40:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:40:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:41:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:41:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:41:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:41:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.220s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:41:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.559[m] 55.649[deg]	[grasp_sample.py: 539]
+05/11 19:41:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:41:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:41:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:41:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:20 INFO: [Worker 0] Object is not in grasp! 0.00093 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:41:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:41:20 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]
+05/11 19:41:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:41:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 414 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:41:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.357s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:41:20 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.053[m] 1.767[deg]	[grasp_sample.py: 539]
+05/11 19:41:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:41:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:41:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:41:24 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]
+05/11 19:41:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:41:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.352s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:41:26 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.218[m] 7.425[deg]	[grasp_sample.py: 539]
+05/11 19:41:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:41:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:41:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:41:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:41:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:41:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:41:30 INFO: [Worker 0] Feasible grasp found 135 (originally 135): w/ 0.555[m] 20.985[deg]	[grasp_sample.py: 539]
+05/11 19:41:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:41:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:41:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:41:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:41:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:41:35 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]
+05/11 19:41:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:41:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:41:36 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:41:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.804s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:41:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.559[m] 55.649[deg]	[grasp_sample.py: 539]
+05/11 19:41:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:41:39 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:41:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:41:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:41:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:41:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:41:40 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]
+05/11 19:41:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:41:40 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]
+05/11 19:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160684m	[env.py: 870]
+05/11 19:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:41:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=293.1ms, total=293.2ms	[env.py: 1105]
+05/11 19:41:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:41:41 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:41:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:41:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:41:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:41:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:41:42 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]
+05/11 19:41:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:41:42 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]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156830m	[env.py: 870]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:41:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42960008 -0.92649807 -0.1568297 ] yaw=-67.4deg	[env.py: 1019]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:41:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=268.6ms, total=268.8ms	[env.py: 1075]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -0.926, -0.157)	[env.py: 1079]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.4 deg	[env.py: 1082]
+05/11 19:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/11 19:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:41:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:41:43 INFO: [Worker 0] Worker 0 house 1 episode 29/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:41:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:41:43 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]
+05/11 19:41:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:41:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:41:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:41:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.739[m] 88.482[deg]	[grasp_sample.py: 539]
+05/11 19:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:41:45 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:41:45 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=1.06s:
+  episode_total: mean=97.28s, total=194.56s, count=2, min=16802.8ms, max=177756.6ms
+  sensor_polling: mean=480.3ms, total=144.08s, count=300, min=327.4ms, max=791.0ms
+  physics_step: mean=29.9ms, total=8.96s, count=300, min=21.1ms, max=102.7ms
+  task_sampling: mean=530.0ms, total=1.06s, count=2, min=518.0ms, max=542.1ms
+  task_specific_sample: mean=526.8ms, total=1.05s, count=2, min=515.4ms, max=538.1ms
+  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.2ms, max=1.8ms
+  mj_forward_sync: mean=439.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.6us, 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]
+05/11 19:41:46 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:41:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:41:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:41:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:41:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:41:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:41:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:41:47 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]
+05/11 19:41:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:41:47 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]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157894m	[env.py: 870]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:41:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53380636 -0.84143655 -0.15789403] yaw=-53.8deg	[env.py: 1019]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5179057  -0.808831   -0.15789403] yaw=-58.7deg	[env.py: 1019]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:41:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=451.8ms, total=451.8ms	[env.py: 1075]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.534, -0.841, -0.158)	[env.py: 1079]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg	[env.py: 1082]
+05/11 19:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/11 19:41:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:41:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:41:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:41:48 INFO: [Worker 0] Worker 0 house 1 episode 20/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:41:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:41:48 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]
+05/11 19:41:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:41:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:41:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:41:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:41:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:41:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:41:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:41:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143032m	[env.py: 870]
+05/11 19:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:41:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:41:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.183s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=464.6ms, total=464.6ms	[env.py: 1105]
+05/11 19:41:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:41:48 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]
+05/11 19:41:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:41:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:41:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:41:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:41:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:41:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:41:50 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]
+05/11 19:41:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:41:50 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]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178400m	[env.py: 870]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:41:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52299916 -0.89444468 -0.17839976] yaw=-60.4deg	[env.py: 1019]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64949349 -0.95004898 -0.17839976] yaw=-80.1deg	[env.py: 1019]
+05/11 19:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:41:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=502.2ms, total=502.3ms	[env.py: 1075]
+05/11 19:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.894, -0.178)	[env.py: 1079]
+05/11 19:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.4 deg	[env.py: 1082]
+05/11 19:41:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/11 19:41:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:41:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:41:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:41:51 INFO: [Worker 0] Worker 0 house 1 episode 31/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:41:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:41:51 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]
+05/11 19:41:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:41:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:42:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:42:01 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.724[m] 95.311[deg]	[grasp_sample.py: 539]
+05/11 19:42:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:42:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:42:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:42:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:42:06 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:42:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 19:42:06 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/11 19:42:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:42:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:42:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:42:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:42:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 21.148s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:42:09 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.774[m] 92.710[deg]	[grasp_sample.py: 539]
+05/11 19:42:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.754s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:42:09 INFO: [Worker 0] Feasible grasp found 135 (originally 135): w/ 0.309[m] 16.002[deg]	[grasp_sample.py: 539]
+05/11 19:42:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:42:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:42:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:42:11 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:42:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:42:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:42:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:42:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:42:12 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]
+05/11 19:42:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:42:12 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]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125292m	[env.py: 870]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:42:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40288964 -0.97529545 -0.12529225] yaw=-50.4deg	[env.py: 1019]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45717339 -0.81229546 -0.12529225] yaw=-68.5deg	[env.py: 1019]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:42:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=243.6ms, total=243.7ms	[env.py: 1075]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -0.975, -0.125)	[env.py: 1079]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg	[env.py: 1082]
+05/11 19:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/11 19:42:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:42:13 INFO: [Worker 0] Worker 0 house 1 episode 21/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:42:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:42:13 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]
+05/11 19:42:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:42:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:42:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:42:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.114s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:42:17 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.777[m] 82.512[deg]	[grasp_sample.py: 539]
+05/11 19:42:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:42:18 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:42:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:42:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:42:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:42:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:42:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:42:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:42:20 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]
+05/11 19:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178615m	[env.py: 870]
+05/11 19:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:42:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=405.7ms, total=405.8ms	[env.py: 1105]
+05/11 19:42:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:42:20 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:42:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:42:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:42:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:42:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:42:22 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]
+05/11 19:42:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:42:22 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]
+05/11 19:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118748m	[env.py: 870]
+05/11 19:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:42:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=276.8ms, total=276.8ms	[env.py: 1105]
+05/11 19:42:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:42:22 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]
+05/11 19:42:22 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:42:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:42:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:42:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.80s (batch: 3.89s, save: 12.90s)	[pipeline.py: 300]
+05/11 19:42:23 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:42:23 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=False episode_total=0.76s:
+  episode_total: mean=140.15s, total=140.15s, count=1, min=140147.1ms, max=140147.1ms
+  sensor_polling: mean=449.5ms, total=99.35s, count=221, min=284.2ms, max=825.0ms
+  physics_step: mean=27.4ms, total=6.06s, count=221, min=20.4ms, max=50.5ms
+  task_sampling: mean=760.9ms, total=760.9ms, count=1, min=760.9ms, max=760.9ms
+  task_specific_sample: mean=757.6ms, total=757.6ms, count=1, min=757.6ms, max=757.6ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=636.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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]
+05/11 19:42:23 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=1.70s:
+  episode_total: mean=41.26s, total=206.28s, count=5, min=362.3ms, max=200517.6ms
+  sensor_polling: mean=492.0ms, total=138.75s, count=282, min=353.1ms, max=914.3ms
+  save_trajectories: mean=12.90s, total=12.90s, count=1, min=12902.5ms, max=12902.5ms
+  physics_step: mean=30.7ms, total=8.66s, count=282, min=21.7ms, max=68.4ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3894.3ms, max=3894.3ms
+  task_specific_sample: mean=510.4ms, total=2.55s, count=5, min=355.9ms, max=641.3ms
+  task_sampling: mean=566.7ms, total=1.70s, count=3, min=527.8ms, max=643.6ms
+  task_sampling_failed: mean=436.5ms, total=873.0ms, count=2, min=362.3ms, max=510.7ms
+  scene_randomize: mean=1.6ms, total=8.0ms, count=5, min=1.0ms, max=3.3ms
+  mj_forward_sync: mean=547.8us, total=2.7ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:42:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:42:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:42:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:42:24 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]
+05/11 19:42:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:42:24 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]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188004m	[env.py: 870]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:42:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3572909  -0.87031981 -0.18800423] yaw=-62.1deg	[env.py: 1019]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:42:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.7ms, total=281.8ms	[env.py: 1075]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -0.870, -0.188)	[env.py: 1079]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.1 deg	[env.py: 1082]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:42:24 INFO: [Worker 0] Worker 0 house 1 episode 24/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:42:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:42:24 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]
+05/11 19:42:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:42:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:42:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:42:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:42:24 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]
+05/11 19:42:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:42:24 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]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178989m	[env.py: 870]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:42:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:42:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41940056 -1.0765115  -0.17898919] yaw=-49.2deg	[env.py: 1019]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53046739 -0.86304109 -0.17898919] yaw=-53.7deg	[env.py: 1019]
+05/11 19:42:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:42:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=397.2ms, total=397.2ms	[env.py: 1075]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -1.077, -0.179)	[env.py: 1079]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg	[env.py: 1082]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/11 19:42:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:42:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:42:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:42:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:42:25 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]
+05/11 19:42:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:42:25 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]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133681m	[env.py: 870]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:42:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:42:25 INFO: [Worker 0] Worker 0 house 1 episode 37/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:42:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=287.2ms, total=287.2ms	[env.py: 1105]
+05/11 19:42:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:42:25 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:42:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.159s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:42:25 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]
+05/11 19:42:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:42:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:42:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:42:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:42:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:42:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:42:27 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]
+05/11 19:42:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:42:27 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]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148903m	[env.py: 870]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:42:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54148354 -0.98036574 -0.14890343] yaw=-56.6deg	[env.py: 1019]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36437764 -1.18252884 -0.14890343] yaw=-43.1deg	[env.py: 1019]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:42:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.6ms, total=266.6ms	[env.py: 1075]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.980, -0.149)	[env.py: 1079]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg	[env.py: 1082]
+05/11 19:42:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/11 19:42:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.856s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:42:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.628[m] 95.905[deg]	[grasp_sample.py: 539]
+05/11 19:42:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:42:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:42:27 INFO: [Worker 0] Worker 0 house 1 episode 25/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:42:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:42:27 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]
+05/11 19:42:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:42:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:42:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:42:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:42:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.298s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:42:30 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.658[m] 78.765[deg]	[grasp_sample.py: 539]
+05/11 19:42:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:42:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:42:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:42:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.066s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:42:32 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 19:42:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:42:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:42:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:42:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:42:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:42:34 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]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146406m	[env.py: 870]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:42:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50051948 -1.02290697 -0.14640555] yaw=-58.3deg	[env.py: 1019]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:42:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=271.5ms, total=271.6ms	[env.py: 1075]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.501, -1.023, -0.146)	[env.py: 1079]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg	[env.py: 1082]
+05/11 19:42:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/11 19:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:42:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:42:35 INFO: [Worker 0] Worker 0 house 1 episode 25/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:42:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:42:35 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]
+05/11 19:42:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:42:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:42:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.979s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:42:37 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.627[m] 95.364[deg]	[grasp_sample.py: 539]
+05/11 19:42:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:42:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:42:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:43:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:43:12 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]
+05/11 19:43:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:43:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.387s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:43:14 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.504[m] 71.901[deg]	[grasp_sample.py: 539]
+05/11 19:43:16 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:43:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:43:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:43:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:43:18 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]
+05/11 19:43:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:43:18 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]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115619m	[env.py: 870]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:43:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24973773 -1.01023026 -0.11561909] yaw=-41.4deg	[env.py: 1019]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.30514248 -1.06438169 -0.11561909] yaw=-56.3deg	[env.py: 1019]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:43:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=561.0ms, total=561.1ms	[env.py: 1075]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -1.010, -0.116)	[env.py: 1079]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg	[env.py: 1082]
+05/11 19:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/11 19:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:43:18 INFO: [Worker 0] Worker 0 house 1 episode 26/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:43:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:43:18 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]
+05/11 19:43:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:43:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.974s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:43:21 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:43:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:43:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:43:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:43:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:43:22 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]
+05/11 19:43:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:43:22 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]
+05/11 19:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130765m	[env.py: 870]
+05/11 19:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:43:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48198267 -0.73789373 -0.13076507] yaw=-61.8deg	[env.py: 1019]
+05/11 19:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32506592 -0.87253823 -0.13076507] yaw=-59.3deg	[env.py: 1019]
+05/11 19:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:43:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=419.1ms, total=419.2ms	[env.py: 1075]
+05/11 19:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.738, -0.131)	[env.py: 1079]
+05/11 19:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg	[env.py: 1082]
+05/11 19:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/11 19:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:43:23 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]
+05/11 19:43:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:43:23 INFO: [Worker 0] Worker 0 house 1 episode 27/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:43:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:43:23 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]
+05/11 19:43:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:43:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:43:23 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]
+05/11 19:43:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:43:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:43:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.089s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:43:25 INFO: [Worker 0] Feasible grasp found 143 (originally 143): w/ 0.123[m] 14.236[deg]	[grasp_sample.py: 539]
+05/11 19:43:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.152s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:43:25 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:43:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:43:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:43:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:43:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:43:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:43:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:43:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:43:27 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]
+05/11 19:43:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:43:27 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]
+05/11 19:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113388m	[env.py: 870]
+05/11 19:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:43:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=249.7ms, total=249.7ms	[env.py: 1105]
+05/11 19:43:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:43:27 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:43:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:43:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:43:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:43:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:43:29 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]
+05/11 19:43:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:43:29 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]
+05/11 19:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159393m	[env.py: 870]
+05/11 19:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:43:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=256.5ms, total=256.6ms	[env.py: 1105]
+05/11 19:43:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:43:29 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]
+05/11 19:43:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:43:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:43:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:43:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:43:31 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]
+05/11 19:43:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:43:31 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]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197227m	[env.py: 870]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:43:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13565413 -1.09609871 -0.19722737] yaw=-33.8deg	[env.py: 1019]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:43:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=236.1ms, total=236.2ms	[env.py: 1075]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.136, -1.096, -0.197)	[env.py: 1079]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.8 deg	[env.py: 1082]
+05/11 19:43:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/11 19:43:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:43:31 INFO: [Worker 0] Worker 0 house 1 episode 30/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:43:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:43:31 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]
+05/11 19:43:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:43:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:43:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.363s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:43:35 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 19:43:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:43:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:43:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:43:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:43:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:43:37 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]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102088m	[env.py: 870]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:43:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27147285 -0.93404718 -0.1020878 ] yaw=-60.8deg	[env.py: 1019]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33298596 -1.02511899 -0.1020878 ] yaw=-49.3deg	[env.py: 1019]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:43:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=271.5ms, total=271.6ms	[env.py: 1075]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.271, -0.934, -0.102)	[env.py: 1079]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg	[env.py: 1082]
+05/11 19:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/11 19:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:43:37 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]
+05/11 19:43:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:43:37 INFO: [Worker 0] Worker 0 house 1 episode 31/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:43:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:43:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:43:37 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]
+05/11 19:43:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:43:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.906s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:43:39 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:43:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:43:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:43:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:43:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:43:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:43:41 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]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159250m	[env.py: 870]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:43:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28860519 -1.20188165 -0.15925048] yaw=-29.8deg	[env.py: 1019]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:43:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=225.0ms	[env.py: 1075]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.202, -0.159)	[env.py: 1079]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.8 deg	[env.py: 1082]
+05/11 19:43:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/11 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:43:41 INFO: [Worker 0] Worker 0 house 1 episode 32/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:43:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:43:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:43:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:43:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:43:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 21.422s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:43:45 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.407[m] 48.451[deg]	[grasp_sample.py: 539]
+05/11 19:43:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:43:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:43:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:43:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:43:46 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.639[m] 86.322[deg]	[grasp_sample.py: 539]
+05/11 19:43:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:43:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:43:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:43:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:43:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:43:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:43:50 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]
+05/11 19:43:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:43:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.694s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:43:54 INFO: [Worker 0] Feasible grasp found 467 (originally 467): w/ 0.189[m] 15.534[deg]	[grasp_sample.py: 539]
+05/11 19:43:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.095s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:43:55 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.456[m] 60.012[deg]	[grasp_sample.py: 539]
+05/11 19:43:55 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:43:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:43:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:43:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:43:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:43:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:43:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:43:57 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]
+05/11 19:43:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:43:57 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]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154535m	[env.py: 870]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:43:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48551717 -0.95364203 -0.15453489] yaw=-55.0deg	[env.py: 1019]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:43:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=367.6ms, total=367.6ms	[env.py: 1075]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.954, -0.155)	[env.py: 1079]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg	[env.py: 1082]
+05/11 19:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/11 19:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:43:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:43:58 INFO: [Worker 0] Worker 0 house 1 episode 32/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:43:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:43:58 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]
+05/11 19:43:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:43:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:44:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.449s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:44:01 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.682[m] 84.914[deg]	[grasp_sample.py: 539]
+05/11 19:44:03 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:44:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:44:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:44:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:44:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:44:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:44:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:44:04 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]
+05/11 19:44:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:44:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185942m	[env.py: 870]
+05/11 19:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:44:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41541937 -1.09863924 -0.18594171] yaw=-59.1deg	[env.py: 1019]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27406729 -1.15690442 -0.18594171] yaw=-45.8deg	[env.py: 1019]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47563041 -0.9315297  -0.18594171] yaw=-61.0deg	[env.py: 1019]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:44:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=578.4ms, total=578.5ms	[env.py: 1075]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.415, -1.099, -0.186)	[env.py: 1079]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg	[env.py: 1082]
+05/11 19:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/11 19:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:44:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:44:05 INFO: [Worker 0] Worker 0 house 1 episode 33/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:44:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:44:05 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]
+05/11 19:44:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:44:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:44:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.276s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:44:07 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.644[m] 84.037[deg]	[grasp_sample.py: 539]
+05/11 19:44:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:44:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:44:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:44:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:44:45 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]
+05/11 19:44:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:44:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:44:46 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:44:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.619s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:44:46 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.170[m] 19.152[deg]	[grasp_sample.py: 539]
+05/11 19:44:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:44:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:44:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:44:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:44:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:45:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:45:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:45:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:45:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:45:04 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:45:05 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:45:05 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=False episode_total=0.62s:
+  episode_total: mean=79.12s, total=158.24s, count=2, min=301.5ms, max=157941.4ms
+  sensor_polling: mean=510.7ms, total=76.60s, count=150, min=348.9ms, max=1039.1ms
+  physics_step: mean=30.6ms, total=4.59s, count=150, min=16.0ms, max=86.7ms
+  task_specific_sample: mean=458.5ms, total=916.9ms, count=2, min=295.3ms, max=621.6ms
+  task_sampling: mean=624.4ms, total=624.4ms, count=1, min=624.4ms, max=624.4ms
+  task_sampling_failed: mean=301.4ms, total=301.4ms, count=1, min=301.4ms, max=301.4ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.0ms, max=2.9ms
+  mj_forward_sync: mean=520.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.2us, 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]
+05/11 19:45:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:45:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:45:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:45:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:45:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:45:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:45:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:45:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:45:06 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]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140977m	[env.py: 870]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:45:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58262575 -0.7948939  -0.14097657] yaw=-77.2deg	[env.py: 1019]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:45:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.4ms, total=258.4ms	[env.py: 1075]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -0.795, -0.141)	[env.py: 1079]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.2 deg	[env.py: 1082]
+05/11 19:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/11 19:45:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:45:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:45:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:45:07 INFO: [Worker 0] Worker 0 house 1 episode 26/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:45:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:45:07 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]
+05/11 19:45:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:45:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:45:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:45:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:45:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.238s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:45:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.807[m] 86.089[deg]	[grasp_sample.py: 539]
+05/11 19:45:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:45:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:45:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:45:14 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:45:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 19:45:14 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/11 19:45:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:45:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:45:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:45:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:45:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.60s (batch: 4.38s, save: 11.22s)	[pipeline.py: 300]
+05/11 19:45:30 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.70s:
+  episode_total: mean=186.01s, total=186.01s, count=1, min=186007.4ms, max=186007.4ms
+  sensor_polling: mean=483.5ms, total=127.15s, count=263, min=328.7ms, max=801.3ms
+  save_trajectories: mean=11.22s, total=11.22s, count=1, min=11215.1ms, max=11215.1ms
+  physics_step: mean=31.7ms, total=8.34s, count=263, min=21.3ms, max=116.8ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4382.7ms, max=4382.7ms
+  task_sampling: mean=703.0ms, total=703.0ms, count=1, min=703.0ms, max=703.0ms
+  task_specific_sample: mean=699.7ms, total=699.7ms, count=1, min=699.7ms, max=699.7ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=398.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:45:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:45:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:45:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:45:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:45:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:45:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:45:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:45:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:45:32 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]
+05/11 19:45:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:45:32 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]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169059m	[env.py: 870]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:45:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17988695 -1.02967787 -0.16905884] yaw=-52.8deg	[env.py: 1019]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:45:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=306.4ms, total=306.4ms	[env.py: 1075]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.030, -0.169)	[env.py: 1079]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg	[env.py: 1082]
+05/11 19:45:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/11 19:45:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:45:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:45:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:45:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:45:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:45:32 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:45:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:45:33 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]
+05/11 19:45:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:45:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.177s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:45:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.790s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:45:35 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:45:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:45:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:45:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:45:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:45:36 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]
+05/11 19:45:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:45:36 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]
+05/11 19:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125300m	[env.py: 870]
+05/11 19:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:45:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=243.7ms, total=243.7ms	[env.py: 1105]
+05/11 19:45:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:45:36 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]
+05/11 19:45:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:45:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:45:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:45:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:45:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:45:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:45:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:45:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:45:38 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]
+05/11 19:45:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:45:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128435m	[env.py: 870]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:45:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45672696 -0.85203488 -0.12843549] yaw=-54.9deg	[env.py: 1019]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:45:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=384.9ms, total=384.9ms	[env.py: 1075]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -0.852, -0.128)	[env.py: 1079]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg	[env.py: 1082]
+05/11 19:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/11 19:45:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:45:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:45:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:45:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:45:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:45:39 INFO: [Worker 0] Worker 0 house 1 episode 40/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:45:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:45:39 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]
+05/11 19:45:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:45:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:46:05 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:46:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 29.916s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:46:09 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.759[m] 93.764[deg]	[grasp_sample.py: 539]
+05/11 19:46:10 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:46:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:46:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:46:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:46:12 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]
+05/11 19:46:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:46:12 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]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176286m	[env.py: 870]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:46:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41705422 -0.78973937 -0.17628616] yaw=-70.4deg	[env.py: 1019]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:46:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=424.7ms, total=424.8ms	[env.py: 1075]
+05/11 19:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -0.790, -0.176)	[env.py: 1079]
+05/11 19:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg	[env.py: 1082]
+05/11 19:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/11 19:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:46:13 INFO: [Worker 0] Worker 0 house 1 episode 41/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:46:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:46:13 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]
+05/11 19:46:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:46:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:46:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.654s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:46:15 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:46:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:46:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:46:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:46:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:46:16 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]
+05/11 19:46:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:46:16 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]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160143m	[env.py: 870]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:46:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.08718056 -1.05918357 -0.16014346] yaw=-41.9deg	[env.py: 1019]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.68437974 -0.96985906 -0.16014346] yaw=-60.9deg	[env.py: 1019]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:46:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=340.1ms, total=340.1ms	[env.py: 1075]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.087, -1.059, -0.160)	[env.py: 1079]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg	[env.py: 1082]
+05/11 19:46:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/11 19:46:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:46:17 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:46:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:46:17 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]
+05/11 19:46:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:46:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:46:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.751s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:46:19 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:46:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:46:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:46:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:46:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:46:21 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]
+05/11 19:46:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:46:21 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]
+05/11 19:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179049m	[env.py: 870]
+05/11 19:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:46:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=469.8ms, total=469.9ms	[env.py: 1105]
+05/11 19:46:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:46:21 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]
+05/11 19:46:23 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:46:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:46:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:46:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:46:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:46:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:46:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133823m	[env.py: 870]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:46:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36647094 -0.99419161 -0.13382265] yaw=-60.9deg	[env.py: 1019]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:46:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=545.2ms, total=545.3ms	[env.py: 1075]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -0.994, -0.134)	[env.py: 1079]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg	[env.py: 1082]
+05/11 19:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/11 19:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:46:24 INFO: [Worker 0] Worker 0 house 1 episode 44/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:46:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:46:24 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]
+05/11 19:46:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:46:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:46:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.982s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:46:28 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.744[m] 87.375[deg]	[grasp_sample.py: 539]
+05/11 19:46:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:46:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:46:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:46:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:46:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:46:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:46:35 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:46:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 19:46:35 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/11 19:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:46:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:46:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:46:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:46:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:46:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.057s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:46:47 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.293[m] 19.513[deg]	[grasp_sample.py: 539]
+05/11 19:46:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:46:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:46:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:46:49 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:46:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 19:46:49 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/11 19:46:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:46:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:46:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:46:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:46:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:46:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:46:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.55s (batch: 4.48s, save: 11.06s)	[pipeline.py: 300]
+05/11 19:46:52 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=5.47s:
+  episode_total: mean=21.97s, total=285.55s, count=13, min=263.7ms, max=190902.1ms
+  sensor_polling: mean=481.9ms, total=147.48s, count=306, min=322.3ms, max=1068.0ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11062.1ms, max=11062.1ms
+  physics_step: mean=30.4ms, total=9.32s, count=306, min=16.5ms, max=83.1ms
+  task_specific_sample: mean=512.8ms, total=6.67s, count=13, min=258.4ms, max=853.2ms
+  task_sampling: mean=608.2ms, total=5.47s, count=9, min=446.6ms, max=855.9ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4483.1ms, max=4483.1ms
+  task_sampling_failed: mean=311.0ms, total=1.24s, count=4, min=263.7ms, max=418.4ms
+  scene_randomize: mean=1.6ms, total=21.2ms, count=13, min=1.0ms, max=2.5ms
+  mj_forward_sync: mean=617.1us, total=8.0ms, count=13, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.9us, total=0.1ms, count=9, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:46:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:46:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:46:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:46:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:46:53 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]
+05/11 19:46:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:46:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119671m	[env.py: 870]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:46:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25057452 -0.90298683 -0.11967104] yaw=-50.5deg	[env.py: 1019]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:46:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=221.0ms, total=221.1ms	[env.py: 1075]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -0.903, -0.120)	[env.py: 1079]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg	[env.py: 1082]
+05/11 19:46:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/11 19:46:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:46:54 INFO: [Worker 0] Worker 0 house 1 episode 33/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:46:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:46:54 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]
+05/11 19:46:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:46:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:46:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.764s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:46:55 INFO: [Worker 0] Feasible grasp found 458 (originally 458): w/ 0.637[m] 34.255[deg]	[grasp_sample.py: 539]
+05/11 19:46:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:46:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:46:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:46:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.146s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:46:56 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:46:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:46:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:46:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:46:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:46:58 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]
+05/11 19:46:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:46:58 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]
+05/11 19:46:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:46:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:46:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173459m	[env.py: 870]
+05/11 19:46:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:46:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:46:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:46:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:46:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=268.6ms, total=268.6ms	[env.py: 1105]
+05/11 19:46:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:46:58 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]
+05/11 19:46:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:46:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:46:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:46:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:46:59 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]
+05/11 19:46:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:46:59 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]
+05/11 19:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160448m	[env.py: 870]
+05/11 19:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:46:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=311.1ms, total=311.2ms	[env.py: 1105]
+05/11 19:47:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:47:00 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:47:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:47:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:47:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:47:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:47:01 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]
+05/11 19:47:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:47:01 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]
+05/11 19:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197692m	[env.py: 870]
+05/11 19:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:47:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32977467 -1.13369341 -0.19769195] yaw=-34.9deg	[env.py: 1019]
+05/11 19:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:47:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=229.9ms, total=230.0ms	[env.py: 1075]
+05/11 19:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -1.134, -0.198)	[env.py: 1079]
+05/11 19:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.9 deg	[env.py: 1082]
+05/11 19:47:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/11 19:47:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:47:02 INFO: [Worker 0] Worker 0 house 1 episode 36/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:47:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:47:02 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]
+05/11 19:47:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:47:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:47:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.115s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:47:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.642[m] 81.503[deg]	[grasp_sample.py: 539]
+05/11 19:47:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:47:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:47:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.92s (batch: 3.89s, save: 12.03s)	[pipeline.py: 300]
+05/11 19:47:05 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=6.82s:
+  episode_total: mean=36.29s, total=653.23s, count=18, min=248.0ms, max=180850.9ms
+  sensor_polling: mean=472.1ms, total=400.84s, count=849, min=286.2ms, max=761.3ms
+  physics_step: mean=30.0ms, total=25.43s, count=849, min=14.0ms, max=109.3ms
+  save_trajectories: mean=12.03s, total=12.03s, count=1, min=12034.2ms, max=12034.2ms
+  task_specific_sample: mean=538.0ms, total=9.68s, count=18, min=243.4ms, max=1001.5ms
+  task_sampling: mean=682.2ms, total=6.82s, count=10, min=534.7ms, max=1006.4ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3886.8ms, max=3886.8ms
+  task_sampling_failed: mean=366.0ms, total=2.93s, count=8, min=248.0ms, max=520.0ms
+  scene_randomize: mean=1.5ms, total=27.1ms, count=18, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=634.2us, total=11.4ms, count=18, min=0.4ms, max=0.9ms
+  policy_setup: mean=14.1us, total=0.1ms, count=10, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=18, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:06 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:47:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:47:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:47:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:47:07 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]
+05/11 19:47:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:47:07 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]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145282m	[env.py: 870]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:47:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 143.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5157493  -1.00479444 -0.14528206] yaw=-68.9deg	[env.py: 1019]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45473245 -0.80813028 -0.14528206] yaw=-66.0deg	[env.py: 1019]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:47:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.3ms, total=236.4ms	[env.py: 1075]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.516, -1.005, -0.145)	[env.py: 1079]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.9 deg	[env.py: 1082]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:47:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:47:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:47:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:47:07 INFO: [Worker 0] Worker 0 house 1 episode 34/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:47:07 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]
+05/11 19:47:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:47:07 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]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167856m	[env.py: 870]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:47:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:47:07 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]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5190303  -0.95688126 -0.16785641] yaw=-68.5deg	[env.py: 1019]
+05/11 19:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=322.7ms, total=322.7ms	[env.py: 1075]
+05/11 19:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.519, -0.957, -0.168)	[env.py: 1079]
+05/11 19:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg	[env.py: 1082]
+05/11 19:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/11 19:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:47:08 INFO: [Worker 0] Worker 0 house 1 episode 37/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:47:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:47:08 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]
+05/11 19:47:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:47:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:47:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.811s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:47:09 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.681[m] 85.988[deg]	[grasp_sample.py: 539]
+05/11 19:47:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:47:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:47:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:47:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.691s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:47:15 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.743[m] 87.786[deg]	[grasp_sample.py: 539]
+05/11 19:47:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:47:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:47:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:47:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:47:20 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]
+05/11 19:47:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:47:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.183s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:47:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.292s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:47:28 INFO: [Worker 0] Feasible grasp found 387 (originally 387): w/ 0.559[m] 32.061[deg]	[grasp_sample.py: 539]
+05/11 19:47:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:47:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:47:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:47:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:47:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:47:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:47:46 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:47:46 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=False episode_total=0.61s:
+  episode_total: mean=159.53s, total=159.53s, count=1, min=159534.7ms, max=159534.7ms
+  sensor_polling: mean=463.4ms, total=86.20s, count=186, min=309.5ms, max=819.1ms
+  physics_step: mean=28.2ms, total=5.24s, count=186, min=14.6ms, max=86.1ms
+  task_sampling: mean=612.4ms, total=612.4ms, count=1, min=612.4ms, max=612.4ms
+  task_specific_sample: mean=609.9ms, total=609.9ms, count=1, min=609.9ms, max=609.9ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=382.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, 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]
+05/11 19:47:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:47:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:47:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:47:47 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]
+05/11 19:47:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:47:47 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]
+05/11 19:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166709m	[env.py: 870]
+05/11 19:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:47:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51471545 -0.90822296 -0.16670877] yaw=-61.5deg	[env.py: 1019]
+05/11 19:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32972451 -0.88571451 -0.16670877] yaw=-61.1deg	[env.py: 1019]
+05/11 19:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:47:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=478.6ms, total=478.7ms	[env.py: 1075]
+05/11 19:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.515, -0.908, -0.167)	[env.py: 1079]
+05/11 19:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.5 deg	[env.py: 1082]
+05/11 19:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/11 19:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:47:48 INFO: [Worker 0] Worker 0 house 1 episode 27/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:47:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:47:48 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]
+05/11 19:47:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:47:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:47:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:47:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.224s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:47:53 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.708[m] 83.805[deg]	[grasp_sample.py: 539]
+05/11 19:47:54 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:47:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:47:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:47:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:47:56 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]
+05/11 19:47:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:47:56 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]
+05/11 19:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109961m	[env.py: 870]
+05/11 19:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:47:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=242.7ms, total=242.8ms	[env.py: 1105]
+05/11 19:47:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:47:56 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:47:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:47:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:47:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:47:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:47:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:47:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:47:57 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]
+05/11 19:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163248m	[env.py: 870]
+05/11 19:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:47:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13128712 -1.09669532 -0.1632479 ] yaw=-35.2deg	[env.py: 1019]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:47:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=365.0ms, total=365.1ms	[env.py: 1075]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.131, -1.097, -0.163)	[env.py: 1079]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.2 deg	[env.py: 1082]
+05/11 19:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/11 19:47:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:47:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:47:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:47:58 INFO: [Worker 0] Worker 0 house 1 episode 29/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:47:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:47:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:47:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:47:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:48:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.710s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:48:00 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:48:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:48:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:48:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:48:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:48:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:48:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:48:02 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]
+05/11 19:48:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:48:02 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]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108986m	[env.py: 870]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:48:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4790748  -1.08022352 -0.10898566] yaw=-61.7deg	[env.py: 1019]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:48:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=613.0ms, total=613.1ms	[env.py: 1075]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -1.080, -0.109)	[env.py: 1079]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg	[env.py: 1082]
+05/11 19:48:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/11 19:48:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:48:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:48:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:48:03 INFO: [Worker 0] Worker 0 house 1 episode 30/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:48:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:48:03 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]
+05/11 19:48:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:48:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:48:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:48:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.617[m] 89.456[deg]	[grasp_sample.py: 539]
+05/11 19:48:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:48:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:48:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:48:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:48:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:48:40 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]
+05/11 19:48:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:48:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:48:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:48:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.965s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:48:45 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.528[m] 65.280[deg]	[grasp_sample.py: 539]
+05/11 19:48:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:48:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:48:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:48:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:53 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:48:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:55 INFO: [Worker 0] Object is not in grasp! 0.00096 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:48:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:48:55 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]
+05/11 19:48:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:48:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 398 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:48:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:48:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:48:56 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]
+05/11 19:48:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:48:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 379 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:48:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:48:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.131[m] 4.014[deg]	[grasp_sample.py: 539]
+05/11 19:48:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:48:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:48:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:48:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.148s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:48:58 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.059[m] 0.796[deg]	[grasp_sample.py: 539]
+05/11 19:48:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:48:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:48:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:49:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:49:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:49:01 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]
+05/11 19:49:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:49:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:49:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:49:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:49:08 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.529[m] 65.454[deg]	[grasp_sample.py: 539]
+05/11 19:49:10 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:49:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:11 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]
+05/11 19:49:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:11 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]
+05/11 19:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180378m	[env.py: 870]
+05/11 19:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=290.9ms, total=290.9ms	[env.py: 1105]
+05/11 19:49:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:49:12 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:49:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:49:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:13 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]
+05/11 19:49:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:13 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]
+05/11 19:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194420m	[env.py: 870]
+05/11 19:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44212108 -1.0697166  -0.19441954] yaw=-53.2deg	[env.py: 1019]
+05/11 19:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:49:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=417.4ms, total=417.5ms	[env.py: 1075]
+05/11 19:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -1.070, -0.194)	[env.py: 1079]
+05/11 19:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg	[env.py: 1082]
+05/11 19:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/11 19:49:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:49:14 INFO: [Worker 0] Worker 0 house 1 episode 32/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:49:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:49:14 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]
+05/11 19:49:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:49:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:49:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:49:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.627[m] 73.463[deg]	[grasp_sample.py: 539]
+05/11 19:49:16 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:49:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:49:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:49:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:18 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]
+05/11 19:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152408m	[env.py: 870]
+05/11 19:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=268.7ms, total=268.7ms	[env.py: 1105]
+05/11 19:49:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:49:19 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:49:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:20 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]
+05/11 19:49:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:20 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]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181567m	[env.py: 870]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.2599127  -1.01657628 -0.18156674] yaw=-49.4deg	[env.py: 1019]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:49:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=408.6ms, total=408.6ms	[env.py: 1075]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.017, -0.182)	[env.py: 1079]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg	[env.py: 1082]
+05/11 19:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/11 19:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:49:21 INFO: [Worker 0] Worker 0 house 1 episode 34/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:49:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:49:21 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]
+05/11 19:49:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:49:21 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:49:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 19:49:21 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/11 19:49:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:49:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.910s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:49:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.710[m] 87.596[deg]	[grasp_sample.py: 539]
+05/11 19:49:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:49:25 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:49:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:26 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]
+05/11 19:49:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135657m	[env.py: 870]
+05/11 19:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=200.7ms, total=200.8ms	[env.py: 1105]
+05/11 19:49:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:49:27 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:28 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]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122240m	[env.py: 870]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.3312065  -0.99353801 -0.12223969] yaw=-48.0deg	[env.py: 1019]
+05/11 19:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24588834 -1.14381493 -0.12223969] yaw=-40.2deg	[env.py: 1019]
+05/11 19:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:49:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:49:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=366.4ms, total=366.4ms	[env.py: 1075]
+05/11 19:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.994, -0.122)	[env.py: 1079]
+05/11 19:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg	[env.py: 1082]
+05/11 19:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/11 19:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:49:29 INFO: [Worker 0] Worker 0 house 1 episode 36/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:49:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:49:29 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]
+05/11 19:49:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:49:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:49:36 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:49:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:49:36 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]
+05/11 19:49:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:49:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 378 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:49:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.434s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:49:36 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.049[m] 0.596[deg]	[grasp_sample.py: 539]
+05/11 19:49:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:49:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:49:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:49:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:49:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:49:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.39s (batch: 4.35s, save: 12.04s)	[pipeline.py: 300]
+05/11 19:49:38 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=3.57s:
+  episode_total: mean=33.76s, total=236.29s, count=7, min=252.8ms, max=195075.6ms
+  sensor_polling: mean=472.1ms, total=132.67s, count=281, min=299.0ms, max=758.0ms
+  save_trajectories: mean=12.04s, total=12.04s, count=1, min=12044.7ms, max=12044.7ms
+  physics_step: mean=30.3ms, total=8.50s, count=281, min=21.2ms, max=94.1ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4346.2ms, max=4346.2ms
+  task_specific_sample: mean=610.7ms, total=4.27s, count=7, min=249.2ms, max=852.8ms
+  task_sampling: mean=713.0ms, total=3.57s, count=5, min=666.4ms, max=855.7ms
+  task_sampling_failed: mean=373.3ms, total=746.6ms, count=2, min=252.8ms, max=493.8ms
+  scene_randomize: mean=1.6ms, total=11.3ms, count=7, min=1.0ms, max=3.0ms
+  mj_forward_sync: mean=604.9us, total=4.2ms, count=7, min=0.4ms, max=0.8ms
+  policy_setup: mean=16.7us, total=0.1ms, count=5, 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]
+05/11 19:49:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.528s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:49:39 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.735[m] 82.281[deg]	[grasp_sample.py: 539]
+05/11 19:49:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:40 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]
+05/11 19:49:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:40 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]
+05/11 19:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182896m	[env.py: 870]
+05/11 19:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=300.7ms, total=300.8ms	[env.py: 1105]
+05/11 19:49:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:49:40 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:49:40 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:49:41 INFO: [Worker 0] Object is not in grasp! 0.00174 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:49:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:49:41 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]
+05/11 19:49:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:49:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 357 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:49:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:49:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:41 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]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125941m	[env.py: 870]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:49:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:41 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]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150039m	[env.py: 870]
+05/11 19:49:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3793157  -1.10335687 -0.15003886] yaw=-56.8deg	[env.py: 1019]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:49:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=275.2ms, total=275.3ms	[env.py: 1105]
+05/11 19:49:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:49:42 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.538s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:49:42 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.133[m] 4.525[deg]	[grasp_sample.py: 539]
+05/11 19:49:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:49:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=316.2ms, total=316.3ms	[env.py: 1075]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.379, -1.103, -0.150)	[env.py: 1079]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.8 deg	[env.py: 1082]
+05/11 19:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/11 19:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:49:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:49:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:49:42 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:49:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:49:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:49:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:49:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:49:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:43 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]
+05/11 19:49:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:43 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]
+05/11 19:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159599m	[env.py: 870]
+05/11 19:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=456.1ms, total=456.2ms	[env.py: 1105]
+05/11 19:49:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:49:43 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]
+05/11 19:49:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:45 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]
+05/11 19:49:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:45 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]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150929m	[env.py: 870]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57683273 -0.86250473 -0.15092923] yaw=-75.9deg	[env.py: 1019]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:49:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=480.2ms, total=480.2ms	[env.py: 1075]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.863, -0.151)	[env.py: 1079]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.9 deg	[env.py: 1082]
+05/11 19:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/11 19:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:49:46 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:49:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:49:46 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]
+05/11 19:49:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:49:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:49:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.695s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:49:48 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.674[m] 87.534[deg]	[grasp_sample.py: 539]
+05/11 19:49:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:49:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:49:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:49:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:49:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:49:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:49:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:49:56 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:49:56 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=False episode_total=1.60s:
+  episode_total: mean=35.35s, total=176.76s, count=5, min=280.6ms, max=169006.5ms
+  sensor_polling: mean=453.1ms, total=135.94s, count=300, min=300.7ms, max=745.0ms
+  physics_step: mean=29.1ms, total=8.74s, count=300, min=16.3ms, max=101.0ms
+  task_specific_sample: mean=437.9ms, total=2.19s, count=5, min=276.3ms, max=581.9ms
+  task_sampling: mean=535.0ms, total=1.60s, count=3, min=464.4ms, max=585.3ms
+  task_sampling_failed: mean=301.7ms, total=603.4ms, count=2, min=280.6ms, max=322.8ms
+  scene_randomize: mean=1.7ms, total=8.7ms, count=5, min=1.3ms, max=3.0ms
+  mj_forward_sync: mean=695.4us, total=3.5ms, count=5, min=0.6ms, max=0.8ms
+  policy_setup: mean=13.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:49:58 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:49:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:49:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:49:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:49:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:49:58 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]
+05/11 19:49:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:49:58 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]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158467m	[env.py: 870]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:49:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53602053 -0.95318615 -0.1584671 ] yaw=-70.7deg	[env.py: 1019]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:49:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=248.1ms, total=248.2ms	[env.py: 1075]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -0.953, -0.158)	[env.py: 1079]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg	[env.py: 1082]
+05/11 19:49:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
+05/11 19:49:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:49:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:49:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:49:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:49:58 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:49:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:49:58 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]
+05/11 19:49:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:49:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:50:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.297s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:50:05 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.728[m] 88.849[deg]	[grasp_sample.py: 539]
+05/11 19:50:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:50:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:50:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:50:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 26.313s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:50:12 INFO: [Worker 0] Feasible grasp found 437 (originally 437): w/ 0.758[m] 88.797[deg]	[grasp_sample.py: 539]
+05/11 19:50:14 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:50:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:16 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]
+05/11 19:50:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:16 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]
+05/11 19:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174360m	[env.py: 870]
+05/11 19:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=480.6ms, total=480.7ms	[env.py: 1105]
+05/11 19:50:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:50:16 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:50:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:18 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]
+05/11 19:50:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:18 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]
+05/11 19:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148279m	[env.py: 870]
+05/11 19:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=407.3ms, total=407.3ms	[env.py: 1105]
+05/11 19:50:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:50:18 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]
+05/11 19:50:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:20 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]
+05/11 19:50:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:20 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]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110850m	[env.py: 870]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47434086 -0.81169616 -0.11085049] yaw=-52.1deg	[env.py: 1019]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40021127 -0.91348866 -0.11085049] yaw=-62.0deg	[env.py: 1019]
+05/11 19:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:50:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=758.2ms, total=758.3ms	[env.py: 1075]
+05/11 19:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -0.812, -0.111)	[env.py: 1079]
+05/11 19:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg	[env.py: 1082]
+05/11 19:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/11 19:50:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:50:21 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:50:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:50:21 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]
+05/11 19:50:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:50:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:50:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.686s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:50:23 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:50:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:25 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]
+05/11 19:50:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:25 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]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193093m	[env.py: 870]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27098634 -1.13234008 -0.19309255] yaw=-31.7deg	[env.py: 1019]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49387949 -0.9927965  -0.19309255] yaw=-60.9deg	[env.py: 1019]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:50:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=717.4ms, total=717.4ms	[env.py: 1075]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.271, -1.132, -0.193)	[env.py: 1079]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.7 deg	[env.py: 1082]
+05/11 19:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/11 19:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:50:26 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:50:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:50:26 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]
+05/11 19:50:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:50:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:50:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.343s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:50:28 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.688[m] 85.721[deg]	[grasp_sample.py: 539]
+05/11 19:50:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:50:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 19:50:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 19:50:30 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:50:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:31 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]
+05/11 19:50:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:31 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]
+05/11 19:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102648m	[env.py: 870]
+05/11 19:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=237.3ms, total=237.3ms	[env.py: 1105]
+05/11 19:50:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:50:31 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:50:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:33 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]
+05/11 19:50:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:33 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]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137094m	[env.py: 870]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41872631 -1.12801212 -0.1370937 ] yaw=-44.0deg	[env.py: 1019]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53610667 -0.78404601 -0.1370937 ] yaw=-76.3deg	[env.py: 1019]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2240376  -1.08781153 -0.1370937 ] yaw=-38.7deg	[env.py: 1019]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:50:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=307.7ms, total=307.8ms	[env.py: 1075]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -1.128, -0.137)	[env.py: 1079]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.0 deg	[env.py: 1082]
+05/11 19:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/11 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:50:33 INFO: [Worker 0] Worker 0 house 1 episode 45/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:50:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:50:33 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]
+05/11 19:50:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:50:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:50:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.783s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:50:35 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.689[m] 87.014[deg]	[grasp_sample.py: 539]
+05/11 19:50:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:50:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:50:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:50:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:50:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:50:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:50:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 18.41s (batch: 4.69s, save: 13.73s)	[pipeline.py: 300]
+05/11 19:50:48 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.56s:
+  episode_total: mean=221.18s, total=221.18s, count=1, min=221184.3ms, max=221184.3ms
+  sensor_polling: mean=465.2ms, total=139.56s, count=300, min=307.3ms, max=809.7ms
+  save_trajectories: mean=13.73s, total=13.73s, count=1, min=13726.5ms, max=13726.5ms
+  physics_step: mean=29.0ms, total=8.71s, count=300, min=20.4ms, max=68.4ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4686.1ms, max=4686.1ms
+  task_sampling: mean=562.3ms, total=562.3ms, count=1, min=562.3ms, max=562.3ms
+  task_specific_sample: mean=558.1ms, total=558.1ms, count=1, min=558.1ms, max=558.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=523.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:50:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:50 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]
+05/11 19:50:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164664m	[env.py: 870]
+05/11 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=323.4ms, total=323.5ms	[env.py: 1105]
+05/11 19:50:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:50:50 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:50:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:51 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]
+05/11 19:50:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:51 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]
+05/11 19:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141578m	[env.py: 870]
+05/11 19:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=383.4ms, total=383.5ms	[env.py: 1105]
+05/11 19:50:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:50:52 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:50:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:53 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]
+05/11 19:50:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:53 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]
+05/11 19:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109683m	[env.py: 870]
+05/11 19:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:50:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=507.9ms, total=508.0ms	[env.py: 1105]
+05/11 19:50:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:50:54 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:50:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:55 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]
+05/11 19:50:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:55 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]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184040m	[env.py: 870]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3137456  -0.84902457 -0.18404004] yaw=-64.5deg	[env.py: 1019]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58131461 -0.7637795  -0.18404004] yaw=-73.2deg	[env.py: 1019]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38974729 -0.87311476 -0.18404004] yaw=-66.0deg	[env.py: 1019]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:50:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=226.7ms, total=226.8ms	[env.py: 1075]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.314, -0.849, -0.184)	[env.py: 1079]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.5 deg	[env.py: 1082]
+05/11 19:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/11 19:50:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:50:56 INFO: [Worker 0] Worker 0 house 1 episode 38/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:50:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:50:56 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]
+05/11 19:50:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:50:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.173s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:50:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.751s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:50:58 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:50:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:50:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:50:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:50:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:50:59 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]
+05/11 19:50:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:50:59 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]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102600m	[env.py: 870]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:50:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62240437 -0.97380055 -0.10259969] yaw=-56.9deg	[env.py: 1019]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:50:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=276.6ms, total=276.7ms	[env.py: 1075]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.622, -0.974, -0.103)	[env.py: 1079]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg	[env.py: 1082]
+05/11 19:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/11 19:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:51:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:51:00 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:51:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:51:00 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]
+05/11 19:51:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:51:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:51:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:51:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.330s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:51:04 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.702[m] 95.208[deg]	[grasp_sample.py: 539]
+05/11 19:51:06 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:51:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:51:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:51:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:51:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:51:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:51:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:51:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:51:07 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]
+05/11 19:51:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:51:07 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]
+05/11 19:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194057m	[env.py: 870]
+05/11 19:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:51:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:51:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=223.1ms, total=223.2ms	[env.py: 1105]
+05/11 19:51:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:51:07 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:51:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:51:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:51:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:51:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:51:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:51:09 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]
+05/11 19:51:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:51:09 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]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137540m	[env.py: 870]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:51:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49513497 -1.04161729 -0.1375405 ] yaw=-49.3deg	[env.py: 1019]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:51:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=525.3ms, total=525.3ms	[env.py: 1075]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -1.042, -0.138)	[env.py: 1079]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg	[env.py: 1082]
+05/11 19:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/11 19:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:51:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:51:10 INFO: [Worker 0] Worker 0 house 1 episode 41/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:51:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:51:10 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]
+05/11 19:51:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:51:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:51:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.074s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:51:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.654[m] 92.584[deg]	[grasp_sample.py: 539]
+05/11 19:51:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:51:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:51:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:51:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:51:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:51:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:51:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:51:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:51:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:51:34 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]
+05/11 19:51:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:51:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 511 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:51:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.121s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:51:36 INFO: [Worker 0] Feasible grasp found 194 (originally 194): w/ 0.115[m] 12.581[deg]	[grasp_sample.py: 539]
+05/11 19:51:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:51:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:51:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:51:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:51:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:51:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:51:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:51:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:51:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:51:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:52:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:01 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:52:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:52:02 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]
+05/11 19:52:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:52:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 455 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:52:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:52:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.359s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:52:04 INFO: [Worker 0] Feasible grasp found 377 (originally 377): w/ 0.096[m] 19.934[deg]	[grasp_sample.py: 539]
+05/11 19:52:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:52:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:52:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:52:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:52:26 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]
+05/11 19:52:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:52:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:52:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:52:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:52:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 19:52:27 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/11 19:52:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.178s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:52:28 INFO: [Worker 0] Feasible grasp found 401 (originally 401): w/ 0.146[m] 11.264[deg]	[grasp_sample.py: 539]
+05/11 19:52:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:52:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:52:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:52:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:52:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:52:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:52:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.57s (batch: 4.35s, save: 10.23s)	[pipeline.py: 300]
+05/11 19:52:42 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.67s:
+  episode_total: mean=90.62s, total=181.24s, count=2, min=314.7ms, max=180925.8ms
+  sensor_polling: mean=455.8ms, total=122.17s, count=268, min=307.5ms, max=862.6ms
+  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10225.9ms, max=10225.9ms
+  physics_step: mean=28.7ms, total=7.69s, count=268, min=19.8ms, max=99.9ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4345.1ms, max=4345.1ms
+  task_specific_sample: mean=486.3ms, total=972.7ms, count=2, min=309.6ms, max=663.1ms
+  task_sampling: mean=666.3ms, total=666.3ms, count=1, min=666.3ms, max=666.3ms
+  task_sampling_failed: mean=314.7ms, total=314.7ms, count=1, min=314.7ms, max=314.7ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=614.3us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.2us, 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]
+05/11 19:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:52:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:52:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:52:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:52:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:52:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:52:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:52:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:52:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:52:44 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]
+05/11 19:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159634m	[env.py: 870]
+05/11 19:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:52:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=250.3ms, total=250.3ms	[env.py: 1105]
+05/11 19:52:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:52:44 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:52:44 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 19:52:45 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 19:52:45 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=False episode_total=0.53s:
+  episode_total: mean=167.14s, total=167.14s, count=1, min=167138.3ms, max=167138.3ms
+  sensor_polling: mean=475.3ms, total=103.14s, count=217, min=333.6ms, max=870.1ms
+  physics_step: mean=26.7ms, total=5.80s, count=217, min=20.1ms, max=63.1ms
+  task_sampling: mean=528.7ms, total=528.7ms, count=1, min=528.7ms, max=528.7ms
+  task_specific_sample: mean=525.7ms, total=525.7ms, count=1, min=525.7ms, max=525.7ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=605.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.7us, 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]
+05/11 19:52:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:52:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:52:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:52:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:52:46 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]
+05/11 19:52:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:52:46 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]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161902m	[env.py: 870]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:52:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43670176 -0.80768241 -0.16190154] yaw=-51.9deg	[env.py: 1019]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:52:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.5ms	[env.py: 1075]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -0.808, -0.162)	[env.py: 1079]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg	[env.py: 1082]
+05/11 19:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/11 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:52:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:52:46 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:52:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:52:46 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]
+05/11 19:52:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:52:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:52:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:52:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:52:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:52:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:52:47 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]
+05/11 19:52:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:52:47 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]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171984m	[env.py: 870]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:52:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43723038 -0.84207432 -0.17198409] yaw=-63.9deg	[env.py: 1019]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36792038 -0.85028548 -0.17198409] yaw=-55.1deg	[env.py: 1019]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:52:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=438.4ms, total=438.5ms	[env.py: 1075]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -0.842, -0.172)	[env.py: 1079]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.9 deg	[env.py: 1082]
+05/11 19:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/11 19:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:52:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:52:48 INFO: [Worker 0] Worker 0 house 1 episode 39/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:52:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:52:48 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]
+05/11 19:52:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:52:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:52:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.924s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:52:48 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:52:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:52:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:52:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:52:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:52:50 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]
+05/11 19:52:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:52:50 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]
+05/11 19:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168075m	[env.py: 870]
+05/11 19:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:52:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.5ms, total=224.6ms	[env.py: 1105]
+05/11 19:52:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:52:50 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:52:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:52:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:52:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:52:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:52:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:52:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:52:52 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]
+05/11 19:52:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:52:52 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]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112860m	[env.py: 870]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:52:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.43589248 -0.99796041 -0.11285981] yaw=-56.6deg	[env.py: 1019]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:52:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=235.3ms, total=235.3ms	[env.py: 1075]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.436, -0.998, -0.113)	[env.py: 1079]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg	[env.py: 1082]
+05/11 19:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/11 19:52:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:52:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:52:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:52:52 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:52:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:52:52 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]
+05/11 19:52:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:52:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:52:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.323s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:52:54 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.764[m] 90.100[deg]	[grasp_sample.py: 539]
+05/11 19:52:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.692s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:52:54 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.706[m] 80.831[deg]	[grasp_sample.py: 539]
+05/11 19:52:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:52:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:52:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:52:56 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:52:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:52:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:52:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:52:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:52:58 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]
+05/11 19:52:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:52:58 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]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183714m	[env.py: 870]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:52:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49658569 -0.73255692 -0.18371432] yaw=-57.5deg	[env.py: 1019]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:52:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=556.4ms, total=556.4ms	[env.py: 1075]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -0.733, -0.184)	[env.py: 1079]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg	[env.py: 1082]
+05/11 19:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
+05/11 19:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:52:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:52:59 INFO: [Worker 0] Worker 0 house 1 episode 40/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:52:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:52:59 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]
+05/11 19:52:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:52:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:53:00 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:53:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.007s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:53:01 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:53:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:53:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:53:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:53:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:53:02 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]
+05/11 19:53:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:53:02 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]
+05/11 19:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117020m	[env.py: 870]
+05/11 19:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:53:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=246.5ms, total=246.6ms	[env.py: 1105]
+05/11 19:53:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:53:03 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]
+05/11 19:53:03 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:53:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:53:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:53:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:53:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.162s, found 374 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:53:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:53:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:53:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:53:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:53:04 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]
+05/11 19:53:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:53:04 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]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154775m	[env.py: 870]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:53:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.195s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:53:04 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.054[m] 1.866[deg]	[grasp_sample.py: 539]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25273746 -0.95995534 -0.15477529] yaw=-52.9deg	[env.py: 1019]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:53:04 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]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.253, -0.960, -0.155)	[env.py: 1079]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg	[env.py: 1082]
+05/11 19:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/11 19:53:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:53:05 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:53:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:53:05 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]
+05/11 19:53:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:53:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:53:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:53:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:53:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:53:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.617s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:53:06 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:53:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:53:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:53:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:53:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:53:08 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]
+05/11 19:53:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:53:08 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]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163817m	[env.py: 870]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:53:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3242414  -0.84321933 -0.16381668] yaw=-52.3deg	[env.py: 1019]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:53:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=289.7ms, total=289.8ms	[env.py: 1075]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -0.843, -0.164)	[env.py: 1079]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg	[env.py: 1082]
+05/11 19:53:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/11 19:53:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:53:09 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:53:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:53:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:53:09 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]
+05/11 19:53:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:53:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:53:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.618s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:53:10 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:53:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:53:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:53:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:53:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:53:12 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]
+05/11 19:53:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:53:12 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]
+05/11 19:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156726m	[env.py: 870]
+05/11 19:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:53:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=247.4ms, total=247.4ms	[env.py: 1105]
+05/11 19:53:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:53:12 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:53:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:53:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:53:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:53:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:53:14 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]
+05/11 19:53:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:53:14 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]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182604m	[env.py: 870]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:53:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.50857498 -1.00896649 -0.18260378] yaw=-49.2deg	[env.py: 1019]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:53:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=334.7ms, total=334.8ms	[env.py: 1075]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.509, -1.009, -0.183)	[env.py: 1079]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg	[env.py: 1082]
+05/11 19:53:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/11 19:53:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:53:14 INFO: [Worker 0] Worker 0 house 1 episode 45/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:53:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:53:14 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]
+05/11 19:53:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:53:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:53:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.955s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:53:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.640[m] 90.097[deg]	[grasp_sample.py: 539]
+05/11 19:53:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:53:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:53:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:53:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:53:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:53:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:53:27 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:53:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 19:53:27 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/11 19:53:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:53:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:53:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.13s (batch: 3.72s, save: 11.41s)	[pipeline.py: 300]
+05/11 19:53:42 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=7.90s:
+  episode_total: mean=17.18s, total=326.35s, count=19, min=212.2ms, max=189669.4ms
+  sensor_polling: mean=480.7ms, total=156.72s, count=326, min=301.1ms, max=814.7ms
+  save_trajectories: mean=11.41s, total=11.41s, count=1, min=11408.3ms, max=11408.3ms
+  task_specific_sample: mean=567.7ms, total=10.79s, count=19, min=208.0ms, max=1062.2ms
+  physics_step: mean=28.3ms, total=9.22s, count=326, min=13.5ms, max=222.7ms
+  task_sampling: mean=789.9ms, total=7.90s, count=10, min=554.1ms, max=1065.0ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3718.9ms, max=3718.9ms
+  task_sampling_failed: mean=331.8ms, total=2.99s, count=9, min=212.2ms, max=499.8ms
+  scene_randomize: mean=1.4ms, total=26.4ms, count=19, min=1.0ms, max=2.4ms
+  mj_forward_sync: mean=566.1us, total=10.8ms, count=19, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.8us, total=0.1ms, count=10, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:53:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:53:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:53:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:53:44 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]
+05/11 19:53:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:53:44 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]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145415m	[env.py: 870]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:53:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.268328   -1.17652812 -0.14541526] yaw=-50.6deg	[env.py: 1019]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51332297 -0.98041123 -0.14541526] yaw=-64.0deg	[env.py: 1019]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:53:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=511.9ms, total=512.0ms	[env.py: 1075]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.268, -1.177, -0.145)	[env.py: 1079]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg	[env.py: 1082]
+05/11 19:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/11 19:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:53:45 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:53:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:53:45 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]
+05/11 19:53:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:53:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:53:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:53:53 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:53:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:53:54 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.646[m] 83.277[deg]	[grasp_sample.py: 539]
+05/11 19:53:56 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:53:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:53:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:53:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:53:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:53:58 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]
+05/11 19:53:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:53:58 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]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188044m	[env.py: 870]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:53:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30110035 -0.89139901 -0.18804355] yaw=-47.1deg	[env.py: 1019]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:53:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=356.1ms, total=356.2ms	[env.py: 1075]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -0.891, -0.188)	[env.py: 1079]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg	[env.py: 1082]
+05/11 19:53:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/11 19:53:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:53:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:53:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:53:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:53:58 INFO: [Worker 0] Worker 0 house 1 episode 47/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:53:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:53:58 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]
+05/11 19:53:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:53:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:54:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.591s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:54:00 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:54:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:54:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:54:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:54:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:54:01 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]
+05/11 19:54:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:54:01 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]
+05/11 19:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171359m	[env.py: 870]
+05/11 19:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:54:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48937712 -0.91059872 -0.17135856] yaw=-64.6deg	[env.py: 1019]
+05/11 19:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:54:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=636.8ms, total=636.8ms	[env.py: 1075]
+05/11 19:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.911, -0.171)	[env.py: 1079]
+05/11 19:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg	[env.py: 1082]
+05/11 19:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/11 19:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:54:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:54:02 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:54:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:54:02 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]
+05/11 19:54:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:54:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:54:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.779s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:54:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.680[m] 89.507[deg]	[grasp_sample.py: 539]
+05/11 19:54:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:54:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:54:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:54:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:54:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:54:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:54:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:54:25 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:54:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 19:54:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 19:54:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:54:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:54:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:54:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:54:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.41s (batch: 4.39s, save: 12.02s)	[pipeline.py: 300]
+05/11 19:54:42 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.88s:
+  episode_total: mean=32.01s, total=224.09s, count=7, min=234.2ms, max=213653.9ms
+  sensor_polling: mean=439.7ms, total=131.91s, count=300, min=313.7ms, max=736.6ms
+  save_trajectories: mean=12.02s, total=12.02s, count=1, min=12019.3ms, max=12019.3ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=20.0ms, max=67.2ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.2ms, max=4391.2ms
+  task_specific_sample: mean=477.8ms, total=3.34s, count=7, min=230.4ms, max=850.2ms
+  task_sampling: mean=628.1ms, total=1.88s, count=3, min=504.8ms, max=852.5ms
+  task_sampling_failed: mean=371.1ms, total=1.48s, count=4, min=234.2ms, max=516.3ms
+  scene_randomize: mean=1.6ms, total=11.2ms, count=7, min=1.0ms, max=3.5ms
+  mj_forward_sync: mean=589.5us, total=4.1ms, count=7, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.6us, total=0.0ms, count=3, 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]
+05/11 19:54:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:54:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:54:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:54:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:54:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:54:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:54:44 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]
+05/11 19:54:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:54:44 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]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162149m	[env.py: 870]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:54:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35594058 -1.0835948  -0.16214856] yaw=-46.9deg	[env.py: 1019]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:54:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=263.5ms, total=263.6ms	[env.py: 1075]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -1.084, -0.162)	[env.py: 1079]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg	[env.py: 1082]
+05/11 19:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/11 19:54:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:54:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:54:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:54:44 INFO: [Worker 0] Worker 0 house 1 episode 42/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:54:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:54:44 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]
+05/11 19:54:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:54:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:54:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:54:48 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.660[m] 86.203[deg]	[grasp_sample.py: 539]
+05/11 19:54:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:54:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:54:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:54:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:54:53 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:54:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:54:53 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]
+05/11 19:54:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:54:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 373 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:54:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.435s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:54:53 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.054[m] 1.970[deg]	[grasp_sample.py: 539]
+05/11 19:54:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:54:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:54:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:54:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:55:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:55:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:55:15 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:55:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:55:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:55:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:55:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:55:21 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]
+05/11 19:55:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:55:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:55:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.801s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:55:23 INFO: [Worker 0] Feasible grasp found 74 (originally 74): w/ 0.108[m] 14.163[deg]	[grasp_sample.py: 539]
+05/11 19:55:25 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:55:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:55:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:55:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:55:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:55:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:55:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:55:26 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]
+05/11 19:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138279m	[env.py: 870]
+05/11 19:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:55:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=296.0ms, total=296.1ms	[env.py: 1105]
+05/11 19:55:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:55:27 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:55:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:55:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:55:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:55:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:55:28 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]
+05/11 19:55:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:55:28 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]
+05/11 19:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164291m	[env.py: 870]
+05/11 19:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:55:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=245.6ms, total=245.7ms	[env.py: 1105]
+05/11 19:55:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:55:29 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]
+05/11 19:55:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:55:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:55:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:55:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:55:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:55:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:55:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:55:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:55:30 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]
+05/11 19:55:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:55:30 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]
+05/11 19:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167122m	[env.py: 870]
+05/11 19:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:55:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29003253 -1.12112297 -0.16712241] yaw=-49.4deg	[env.py: 1019]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23250444 -0.93216081 -0.16712241] yaw=-47.6deg	[env.py: 1019]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:55:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=488.4ms, total=488.5ms	[env.py: 1075]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.290, -1.121, -0.167)	[env.py: 1079]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg	[env.py: 1082]
+05/11 19:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/11 19:55:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:55:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:55:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:55:31 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:55:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:55:31 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]
+05/11 19:55:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:55:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:55:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.267s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:55:37 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.695[m] 74.337[deg]	[grasp_sample.py: 539]
+05/11 19:55:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:55:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:55:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:55:40 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:55:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 19:55:40 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/11 19:55:44 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:55:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:55:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:55:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:55:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.13s (batch: 3.87s, save: 10.25s)	[pipeline.py: 300]
+05/11 19:55:55 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=1.03s:
+  episode_total: mean=46.60s, total=186.38s, count=4, min=232.4ms, max=183215.8ms
+  sensor_polling: mean=440.2ms, total=121.06s, count=275, min=283.1ms, max=841.6ms
+  save_trajectories: mean=10.25s, total=10.25s, count=1, min=10254.7ms, max=10254.7ms
+  physics_step: mean=27.2ms, total=7.49s, count=275, min=19.7ms, max=62.2ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.7ms, max=3873.7ms
+  task_specific_sample: mean=378.4ms, total=1.51s, count=4, min=229.5ms, max=518.0ms
+  task_sampling: mean=516.9ms, total=1.03s, count=2, min=512.4ms, max=521.3ms
+  task_sampling_failed: mean=247.5ms, total=495.0ms, count=2, min=232.4ms, max=262.5ms
+  scene_randomize: mean=1.8ms, total=7.0ms, count=4, min=0.9ms, max=2.4ms
+  mj_forward_sync: mean=564.5us, total=2.3ms, count=4, min=0.4ms, max=0.7ms
+  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=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 19:55:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:55:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:55:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:55:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:55:56 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]
+05/11 19:55:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:55:56 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]
+05/11 19:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121481m	[env.py: 870]
+05/11 19:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:55:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38317586 -0.92646063 -0.12148058] yaw=-58.6deg	[env.py: 1019]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50965432 -0.92075231 -0.12148058] yaw=-72.0deg	[env.py: 1019]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:55:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.3ms, total=222.4ms	[env.py: 1075]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -0.926, -0.121)	[env.py: 1079]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.6 deg	[env.py: 1082]
+05/11 19:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/11 19:55:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:55:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:55:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:55:57 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:55:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:55:57 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]
+05/11 19:55:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:55:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:56:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.814s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:56:01 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.761[m] 88.866[deg]	[grasp_sample.py: 539]
+05/11 19:56:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:56:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:56:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:56:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:56:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:56:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:56:15 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:56:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 19:56:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 19:56:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:56:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:56:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 17.01s (batch: 4.67s, save: 12.34s)	[pipeline.py: 300]
+05/11 19:56:32 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=3.23s:
+  episode_total: mean=30.81s, total=215.69s, count=7, min=255.2ms, max=198693.8ms
+  sensor_polling: mean=438.6ms, total=131.58s, count=300, min=305.8ms, max=683.5ms
+  save_trajectories: mean=12.34s, total=12.34s, count=1, min=12343.6ms, max=12343.6ms
+  physics_step: mean=28.3ms, total=8.48s, count=300, min=19.7ms, max=106.7ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4667.7ms, max=4667.7ms
+  task_specific_sample: mean=531.9ms, total=3.72s, count=7, min=252.3ms, max=838.9ms
+  task_sampling: mean=646.3ms, total=3.23s, count=5, min=493.8ms, max=842.1ms
+  task_sampling_failed: mean=257.3ms, total=514.6ms, count=2, min=255.2ms, max=259.4ms
+  scene_randomize: mean=1.3ms, total=9.0ms, count=7, min=0.9ms, max=1.9ms
+  mj_forward_sync: mean=536.0us, total=3.8ms, count=7, min=0.4ms, max=0.7ms
+  policy_setup: mean=16.2us, total=0.1ms, count=5, 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]
+05/11 19:56:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:56:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:56:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:56:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:56:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:56:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:56:34 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]
+05/11 19:56:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:56:34 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]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148553m	[env.py: 870]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:56:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51394294 -0.82890245 -0.14855303] yaw=-65.1deg	[env.py: 1019]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31839727 -0.91370245 -0.14855303] yaw=-59.9deg	[env.py: 1019]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:56:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.1ms, total=224.2ms	[env.py: 1075]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -0.829, -0.149)	[env.py: 1079]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.1 deg	[env.py: 1082]
+05/11 19:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/11 19:56:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:56:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:56:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:56:34 INFO: [Worker 0] Worker 0 house 1 episode 46/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:56:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:56:35 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]
+05/11 19:56:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:56:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.162s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:56:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:56:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.376s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:56:43 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.741[m] 83.954[deg]	[grasp_sample.py: 539]
+05/11 19:56:45 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:56:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:56:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:56:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:56:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:56:47 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]
+05/11 19:56:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:56:47 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]
+05/11 19:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156060m	[env.py: 870]
+05/11 19:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:56:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=396.6ms, total=396.6ms	[env.py: 1105]
+05/11 19:56:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:56:47 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:56:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:56:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:56:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:56:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:56:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:56:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:56:48 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]
+05/11 19:56:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:56:48 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]
+05/11 19:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136497m	[env.py: 870]
+05/11 19:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:56:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=272.4ms, total=272.5ms	[env.py: 1105]
+05/11 19:56:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:56:49 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]
+05/11 19:56:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:56:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:56:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:56:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:56:50 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]
+05/11 19:56:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:56:50 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]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138302m	[env.py: 870]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:56:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:56:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18071973 -1.09951817 -0.13830152] yaw=-36.8deg	[env.py: 1019]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4176361  -0.99681204 -0.13830152] yaw=-53.7deg	[env.py: 1019]
+05/11 19:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29210327 -1.03022892 -0.13830152] yaw=-38.9deg	[env.py: 1019]
+05/11 19:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 19:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:56:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=628.5ms, total=628.5ms	[env.py: 1075]
+05/11 19:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.181, -1.100, -0.138)	[env.py: 1079]
+05/11 19:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.8 deg	[env.py: 1082]
+05/11 19:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
+05/11 19:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:56:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:56:51 INFO: [Worker 0] Worker 0 house 1 episode 49/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:56:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:56:51 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]
+05/11 19:56:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:56:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:56:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:57:00 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:57:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.031s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:57:04 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 19:57:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:57:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:57:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:57:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:57:06 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]
+05/11 19:57:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:57:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132032m	[env.py: 870]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:57:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26857468 -1.08836152 -0.13203218] yaw=-53.9deg	[env.py: 1019]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:57:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=228.6ms, total=228.6ms	[env.py: 1075]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -1.088, -0.132)	[env.py: 1079]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.9 deg	[env.py: 1082]
+05/11 19:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/11 19:57:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:57:06 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:57:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:57:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:57:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:57:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.273s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:57:10 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.771[m] 95.888[deg]	[grasp_sample.py: 539]
+05/11 19:57:11 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:57:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:57:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:57:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:57:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:57:12 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]
+05/11 19:57:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:57:12 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]
+05/11 19:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150954m	[env.py: 870]
+05/11 19:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:57:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52591927 -1.00734032 -0.1509541 ] yaw=-52.0deg	[env.py: 1019]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:57:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=314.7ms, total=314.8ms	[env.py: 1075]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.526, -1.007, -0.151)	[env.py: 1079]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg	[env.py: 1082]
+05/11 19:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/11 19:57:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:57:13 INFO: [Worker 0] Worker 0 house 1 episode 51/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:57:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:57:13 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]
+05/11 19:57:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:57:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:57:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:57:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.641[m] 82.566[deg]	[grasp_sample.py: 539]
+05/11 19:57:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:57:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:57:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:57:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:57:29 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:57:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 19:57:29 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/11 19:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:57:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:57:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.05s (batch: 4.17s, save: 9.88s)	[pipeline.py: 300]
+05/11 19:57:44 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.59s:
+  episode_total: mean=180.28s, total=180.28s, count=1, min=180284.7ms, max=180284.7ms
+  sensor_polling: mean=453.4ms, total=121.06s, count=267, min=322.0ms, max=678.7ms
+  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9883.4ms, max=9883.4ms
+  physics_step: mean=28.3ms, total=7.56s, count=267, min=19.8ms, max=82.4ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.8ms, max=4169.8ms
+  task_sampling: mean=589.1ms, total=589.1ms, count=1, min=589.1ms, max=589.1ms
+  task_specific_sample: mean=584.6ms, total=584.6ms, count=1, min=584.6ms, max=584.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=643.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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]
+05/11 19:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 19:57:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 19:57:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:57:45 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]
+05/11 19:57:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:57:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:57:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:57:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:57:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:57:46 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]
+05/11 19:57:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:57:46 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]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158126m	[env.py: 870]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:57:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40674279 -0.97405553 -0.15812592] yaw=-56.1deg	[env.py: 1019]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:57:46 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25260491 -0.88911963 -0.15812592] yaw=-59.0deg	[env.py: 1019]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:57:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.5ms	[env.py: 1075]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.407, -0.974, -0.158)	[env.py: 1079]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg	[env.py: 1082]
+05/11 19:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/11 19:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:57:46 INFO: [Worker 0] Worker 0 house 1 episode 43/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:57:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:57:46 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]
+05/11 19:57:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:57:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:57:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.856s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:57:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.486[m] 58.230[deg]	[grasp_sample.py: 539]
+05/11 19:57:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.944s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:57:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.686[m] 79.428[deg]	[grasp_sample.py: 539]
+05/11 19:57:49 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:57:49 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:57:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:57:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:57:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:57:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:57:50 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]
+05/11 19:57:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:57:50 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]
+05/11 19:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105858m	[env.py: 870]
+05/11 19:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:57:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=438.1ms, total=438.2ms	[env.py: 1105]
+05/11 19:57:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:57:51 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:57:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:57:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:57:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:57:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:57:51 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]
+05/11 19:57:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:57:51 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]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132542m	[env.py: 870]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:57:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.148084   -1.00574582 -0.13254209] yaw=-52.1deg	[env.py: 1019]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:57:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=218.3ms, total=218.4ms	[env.py: 1075]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.148, -1.006, -0.133)	[env.py: 1079]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg	[env.py: 1082]
+05/11 19:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/11 19:57:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:57:52 INFO: [Worker 0] Worker 0 house 1 episode 44/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:57:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:57:52 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]
+05/11 19:57:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:57:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:57:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:57:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:57:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:57:52 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]
+05/11 19:57:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:57:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135243m	[env.py: 870]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:57:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42580797 -1.03592569 -0.13524335] yaw=-44.3deg	[env.py: 1019]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:57:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=307.5ms, total=307.6ms	[env.py: 1075]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -1.036, -0.135)	[env.py: 1079]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg	[env.py: 1082]
+05/11 19:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/11 19:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:57:53 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:57:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:57:53 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]
+05/11 19:57:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:57:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:57:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.715s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 19:57:53 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 19:57:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:57:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:57:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:57:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:57:55 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]
+05/11 19:57:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:57:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118908m	[env.py: 870]
+05/11 19:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:57:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=274.1ms, total=274.1ms	[env.py: 1105]
+05/11 19:57:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:57:55 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:57:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:57:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:57:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:57:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:57:57 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]
+05/11 19:57:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:57:57 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]
+05/11 19:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114011m	[env.py: 870]
+05/11 19:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:57:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=307.7ms, total=307.7ms	[env.py: 1105]
+05/11 19:57:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:57:57 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]
+05/11 19:57:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.164s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:57:58 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.690[m] 88.926[deg]	[grasp_sample.py: 539]
+05/11 19:57:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:57:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:57:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:57:59 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]
+05/11 19:57:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:57:59 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]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175416m	[env.py: 870]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:57:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50796798 -1.00205923 -0.17541623] yaw=-58.3deg	[env.py: 1019]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39798699 -0.936227   -0.17541623] yaw=-60.6deg	[env.py: 1019]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:57:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=239.7ms, total=239.7ms	[env.py: 1075]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -1.002, -0.175)	[env.py: 1079]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg	[env.py: 1082]
+05/11 19:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/11 19:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:57:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:57:59 INFO: [Worker 0] Worker 0 house 1 episode 47/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:57:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:57:59 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]
+05/11 19:57:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:58:00 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:58:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:58:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.987s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:58:01 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.646[m] 77.439[deg]	[grasp_sample.py: 539]
+05/11 19:58:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:58:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:58:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:58:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:58:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:58:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:58:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:58:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:58:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:58:01 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]
+05/11 19:58:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:58:01 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]
+05/11 19:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175305m	[env.py: 870]
+05/11 19:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:58:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=212.6ms, total=212.6ms	[env.py: 1105]
+05/11 19:58:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:58:01 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]
+05/11 19:58:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:58:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:58:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:58:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:58:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:58:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:58:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:58:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:58:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:58:03 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]
+05/11 19:58:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:58:03 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]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140226m	[env.py: 870]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:58:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19863484 -1.16532992 -0.1402261 ] yaw=-46.8deg	[env.py: 1019]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:58:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.6ms	[env.py: 1075]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.199, -1.165, -0.140)	[env.py: 1079]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg	[env.py: 1082]
+05/11 19:58:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/11 19:58:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:58:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:58:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:58:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:58:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:58:03 INFO: [Worker 0] Worker 0 house 1 episode 55/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:58:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:58:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:58:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:58:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:58:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.858s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:58:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.727[m] 89.249[deg]	[grasp_sample.py: 539]
+05/11 19:58:07 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 19:58:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:58:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:58:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:58:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:58:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:58:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:58:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187730m	[env.py: 870]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:58:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57824291 -0.92655025 -0.18773005] yaw=-69.8deg	[env.py: 1019]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:58:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=321.6ms, total=321.6ms	[env.py: 1075]
+05/11 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.927, -0.188)	[env.py: 1079]
+05/11 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg	[env.py: 1082]
+05/11 19:58:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/11 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:58:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:58:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:58:09 INFO: [Worker 0] Worker 0 house 1 episode 56/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:58:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:58:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:58:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:58:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:58:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.528s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:58:11 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.637[m] 82.952[deg]	[grasp_sample.py: 539]
+05/11 19:58:11 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:58:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 19:58:11 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/11 19:58:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:58:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:58:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:58:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:58:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:58:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.18s (batch: 3.75s, save: 10.43s)	[pipeline.py: 300]
+05/11 19:58:25 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=3.05s:
+  episode_total: mean=45.59s, total=273.55s, count=6, min=257.8ms, max=175027.5ms
+  sensor_polling: mean=446.2ms, total=182.06s, count=408, min=311.8ms, max=833.0ms
+  physics_step: mean=27.2ms, total=11.08s, count=408, min=19.8ms, max=93.2ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10430.3ms, max=10430.3ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3745.7ms, max=3745.7ms
+  task_specific_sample: mean=599.1ms, total=3.59s, count=6, min=252.6ms, max=848.5ms
+  task_sampling: mean=762.5ms, total=3.05s, count=4, min=589.9ms, max=851.3ms
+  task_sampling_failed: mean=283.3ms, total=566.5ms, count=2, min=257.7ms, max=308.8ms
+  scene_randomize: mean=1.6ms, total=9.4ms, count=6, min=1.3ms, max=2.1ms
+  mj_forward_sync: mean=596.4us, total=3.6ms, count=6, min=0.6ms, max=0.7ms
+  policy_setup: mean=14.1us, 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]
+05/11 19:58:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:58:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:58:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:58:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:58:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:58:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 19:58:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:58:27 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]
+05/11 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179151m	[env.py: 870]
+05/11 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:58:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=220.2ms, total=220.3ms	[env.py: 1105]
+05/11 19:58:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 19:58:27 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 19:58:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:58:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:58:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:58:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:58:29 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]
+05/11 19:58:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:58:29 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]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192461m	[env.py: 870]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:58:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42802048 -0.89026513 -0.19246083] yaw=-54.3deg	[env.py: 1019]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26611881 -1.05499507 -0.19246083] yaw=-34.8deg	[env.py: 1019]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:58:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=488.7ms, total=488.7ms	[env.py: 1075]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -0.890, -0.192)	[env.py: 1079]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg	[env.py: 1082]
+05/11 19:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/11 19:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:58:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:58:30 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:58:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:58:30 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]
+05/11 19:58:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:58:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:58:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.224s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:58:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.758[m] 84.584[deg]	[grasp_sample.py: 539]
+05/11 19:58:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:58:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:58:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:58:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:58:36 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 19:59:04 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 19:59:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 19:59:04 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/11 19:59:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:59:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 19:59:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 19:59:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.75s (batch: 3.55s, save: 11.19s)	[pipeline.py: 300]
+05/11 19:59:19 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.56s:
+  episode_total: mean=202.43s, total=202.43s, count=1, min=202429.4ms, max=202429.4ms
+  sensor_polling: mean=458.3ms, total=133.35s, count=291, min=322.4ms, max=865.5ms
+  save_trajectories: mean=11.19s, total=11.19s, count=1, min=11192.5ms, max=11192.5ms
+  physics_step: mean=27.8ms, total=8.09s, count=291, min=19.6ms, max=75.2ms
+  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3552.9ms, max=3552.9ms
+  task_sampling: mean=559.1ms, total=559.1ms, count=1, min=559.1ms, max=559.1ms
+  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=375.1us, 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]
+05/11 19:59:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 19:59:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 19:59:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 19:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:59:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 19:59:21 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]
+05/11 19:59:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 19:59:21 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]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199181m	[env.py: 870]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 19:59:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26175591 -0.94323416 -0.19918132] yaw=-40.4deg	[env.py: 1019]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 19:59:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=230.9ms, total=230.9ms	[env.py: 1075]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -0.943, -0.199)	[env.py: 1079]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg	[env.py: 1082]
+05/11 19:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/11 19:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 19:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 19:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 19:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 19:59:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 19:59:21 INFO: [Worker 0] Worker 0 house 1 episode 52/240 collected=0/40	[pipeline.py: 1044]
+05/11 19:59:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/11 19:59:21 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]
+05/11 19:59:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:59:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:59:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:59:23 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.777[m] 82.395[deg]	[grasp_sample.py: 539]
+05/11 19:59:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:59:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:59:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:59:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 19:59:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:34 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:59:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:59:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 19:59:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:59:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 352 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:59:35 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 19:59:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 19:59:35 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]
+05/11 19:59:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 19:59:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 375 non-colliding grasps	[grasp_sample.py: 465]
+05/11 19:59:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:59:35 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.054[m] 1.873[deg]	[grasp_sample.py: 539]
+05/11 19:59:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:59:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:59:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.513s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 19:59:38 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.041[m] 4.893[deg]	[grasp_sample.py: 539]
+05/11 19:59:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 19:59:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 19:59:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:59:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:59:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 19:59:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 19:59:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:00:05 INFO: [Worker 0] Object is not in grasp! 0.00151 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:00:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:00:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:00:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:00:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 407 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:00:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:00:09 INFO: [Worker 0] Feasible grasp found 206 (originally 206): w/ 0.154[m] 3.196[deg]	[grasp_sample.py: 539]
+05/11 20:00:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:00:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:00:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:00:26 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:00:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:00:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:00:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:00:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:00:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:00:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:00:37 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]
+05/11 20:00:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:00:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:00:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:00:38 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.368[m] 9.698[deg]	[grasp_sample.py: 539]
+05/11 20:00:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:00:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:00:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:00:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:00:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:00:52 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:00:57 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:00:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:00:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:01:08 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 20:01:08 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=False episode_total=4.20s:
+  episode_total: mean=23.56s, total=259.19s, count=11, min=222.4ms, max=179990.8ms
+  sensor_polling: mean=443.0ms, total=152.85s, count=345, min=311.2ms, max=692.5ms
+  physics_step: mean=27.4ms, total=9.46s, count=345, min=19.7ms, max=104.6ms
+  task_specific_sample: mean=502.1ms, total=5.52s, count=11, min=219.0ms, max=968.5ms
+  task_sampling: mean=600.1ms, total=4.20s, count=7, min=450.3ms, max=971.1ms
+  task_sampling_failed: mean=341.2ms, total=1.36s, count=4, min=222.4ms, max=449.6ms
+  scene_randomize: mean=1.4ms, total=14.9ms, count=11, min=0.9ms, max=2.9ms
+  mj_forward_sync: mean=536.1us, total=5.9ms, count=11, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.2us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:01:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:01:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:01:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:01:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:01:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:01:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:01:10 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]
+05/11 20:01:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:01:10 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]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137948m	[env.py: 870]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:01:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57872132 -0.91270489 -0.13794834] yaw=-59.3deg	[env.py: 1019]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43699612 -0.93011402 -0.13794834] yaw=-58.8deg	[env.py: 1019]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31499786 -1.02183188 -0.13794834] yaw=-49.9deg	[env.py: 1019]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:01:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=301.2ms, total=301.2ms	[env.py: 1075]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.579, -0.913, -0.138)	[env.py: 1079]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg	[env.py: 1082]
+05/11 20:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/11 20:01:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:01:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:01:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:01:10 INFO: [Worker 0] Worker 0 house 1 episode 57/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:01:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:01:10 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]
+05/11 20:01:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:01:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:01:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:01:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:01:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 17.42s (batch: 5.12s, save: 12.30s)	[pipeline.py: 300]
+05/11 20:01:16 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.49s:
+  episode_total: mean=40.70s, total=203.52s, count=5, min=283.4ms, max=196745.7ms
+  sensor_polling: mean=425.4ms, total=127.61s, count=300, min=316.7ms, max=652.0ms
+  save_trajectories: mean=12.30s, total=12.30s, count=1, min=12302.2ms, max=12302.2ms
+  physics_step: mean=27.2ms, total=8.15s, count=300, min=19.8ms, max=68.6ms
+  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5118.1ms, max=5118.1ms
+  task_specific_sample: mean=414.0ms, total=2.07s, count=5, min=280.1ms, max=506.6ms
+  task_sampling: mean=495.4ms, total=1.49s, count=3, min=469.5ms, max=509.1ms
+  task_sampling_failed: mean=299.5ms, total=599.1ms, count=2, min=283.3ms, max=315.8ms
+  scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=0.9ms, max=1.8ms
+  mj_forward_sync: mean=476.0us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:01:16 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:01:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:01:16 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/11 20:01:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:01:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:01:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:01:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.590s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:01:17 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.700[m] 89.872[deg]	[grasp_sample.py: 539]
+05/11 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:01:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:01:17 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]
+05/11 20:01:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:01:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103124m	[env.py: 870]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:01:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39238953 -0.82702438 -0.10312375] yaw=-52.1deg	[env.py: 1019]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:01:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=207.8ms, total=207.9ms	[env.py: 1075]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -0.827, -0.103)	[env.py: 1079]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg	[env.py: 1082]
+05/11 20:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/11 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:01:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:01:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:01:18 INFO: [Worker 0] Worker 0 house 1 episode 48/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:01:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:01:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:01:18 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]
+05/11 20:01:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:01:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:01:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:01:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:01:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.641s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:01:20 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:01:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:01:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:01:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:01:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:01:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:01:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:01:21 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]
+05/11 20:01:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:01:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182066m	[env.py: 870]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:01:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39711443 -0.90857296 -0.18206574] yaw=-66.3deg	[env.py: 1019]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:01:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=227.3ms, total=227.3ms	[env.py: 1075]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -0.909, -0.182)	[env.py: 1079]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg	[env.py: 1082]
+05/11 20:01:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/11 20:01:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:01:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:01:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:01:21 INFO: [Worker 0] Worker 0 house 1 episode 49/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:01:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:01:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:01:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:01:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:01:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.669s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:01:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.742[m] 97.952[deg]	[grasp_sample.py: 539]
+05/11 20:01:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:01:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:01:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:01:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:01:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:01:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.49s (batch: 4.06s, save: 10.44s)	[pipeline.py: 300]
+05/11 20:01:31 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.82s:
+  episode_total: mean=91.28s, total=182.55s, count=2, min=233.6ms, max=182320.5ms
+  sensor_polling: mean=449.5ms, total=128.57s, count=286, min=307.8ms, max=725.6ms
+  save_trajectories: mean=10.44s, total=10.44s, count=1, min=10435.5ms, max=10435.5ms
+  physics_step: mean=27.5ms, total=7.87s, count=286, min=19.8ms, max=72.4ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4056.9ms, max=4056.9ms
+  task_specific_sample: mean=521.0ms, total=1.04s, count=2, min=228.7ms, max=813.3ms
+  task_sampling: mean=816.2ms, total=816.2ms, count=1, min=816.2ms, max=816.2ms
+  task_sampling_failed: mean=233.6ms, total=233.6ms, count=1, min=233.6ms, max=233.6ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms
+  mj_forward_sync: mean=538.9us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:01:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:01:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:01:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:01:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:01:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:01:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:01:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:01:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:01:33 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]
+05/11 20:01:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:01:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116126m	[env.py: 870]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:01:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.09868305 -1.03778443 -0.11612576] yaw=-50.0deg	[env.py: 1019]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33010404 -1.002869   -0.11612576] yaw=-43.0deg	[env.py: 1019]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:01:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=239.3ms, total=239.3ms	[env.py: 1075]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.099, -1.038, -0.116)	[env.py: 1079]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.0 deg	[env.py: 1082]
+05/11 20:01:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/11 20:01:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:01:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:01:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:01:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:01:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:01:33 INFO: [Worker 0] Worker 0 house 1 episode 54/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:01:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:01:33 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]
+05/11 20:01:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:01:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:01:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.254s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:01:36 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:01:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:01:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:01:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:01:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:01:38 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]
+05/11 20:01:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:01:38 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]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132747m	[env.py: 870]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:01:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54219102 -0.87089893 -0.13274667] yaw=-65.8deg	[env.py: 1019]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:01:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.3ms, total=253.4ms	[env.py: 1075]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.542, -0.871, -0.133)	[env.py: 1079]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg	[env.py: 1082]
+05/11 20:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/11 20:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:01:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:01:38 INFO: [Worker 0] Worker 0 house 1 episode 55/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:01:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:01:38 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]
+05/11 20:01:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:01:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:01:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.094s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:01:45 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.745[m] 87.921[deg]	[grasp_sample.py: 539]
+05/11 20:01:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:01:46 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:01:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:01:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:01:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:02:15 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:02:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:02:15 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/11 20:02:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:02:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:02:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:02:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.01s (batch: 3.78s, save: 10.24s)	[pipeline.py: 300]
+05/11 20:02:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:02:30 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.53s:
+  episode_total: mean=189.44s, total=189.44s, count=1, min=189442.5ms, max=189442.5ms
+  sensor_polling: mean=454.1ms, total=131.23s, count=289, min=322.4ms, max=733.4ms
+  save_trajectories: mean=10.24s, total=10.24s, count=1, min=10236.1ms, max=10236.1ms
+  physics_step: mean=28.5ms, total=8.23s, count=289, min=16.8ms, max=79.9ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3778.2ms, max=3778.2ms
+  task_sampling: mean=530.8ms, total=530.8ms, count=1, min=530.8ms, max=530.8ms
+  task_specific_sample: mean=527.6ms, total=527.6ms, count=1, min=527.6ms, max=527.6ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=464.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.9us, 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]
+05/11 20:02:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:02:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:02:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:02:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:02:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:02:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:02:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:02:31 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]
+05/11 20:02:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:02:31 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]
+05/11 20:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175219m	[env.py: 870]
+05/11 20:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:02:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34467354 -1.05577144 -0.17521868] yaw=-50.9deg	[env.py: 1019]
+05/11 20:02:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57657538 -0.71112531 -0.17521868] yaw=-66.9deg	[env.py: 1019]
+05/11 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25904012 -0.93841851 -0.17521868] yaw=-45.1deg	[env.py: 1019]
+05/11 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:02:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=217.2ms, total=217.2ms	[env.py: 1075]
+05/11 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -1.056, -0.175)	[env.py: 1079]
+05/11 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg	[env.py: 1082]
+05/11 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/11 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:02:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:02:32 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:02:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:02:32 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]
+05/11 20:02:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:02:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.183s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:02:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:02:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:02:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.152s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:02:34 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.640[m] 88.939[deg]	[grasp_sample.py: 539]
+05/11 20:02:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:02:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:02:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:02:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:02:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:02:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:02:37 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]
+05/11 20:02:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:02:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:02:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:02:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.353s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:02:40 INFO: [Worker 0] Feasible grasp found 195 (originally 195): w/ 0.111[m] 10.242[deg]	[grasp_sample.py: 539]
+05/11 20:02:41 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:02:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:02:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:02:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:02:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:02:43 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]
+05/11 20:02:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:02:43 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]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178315m	[env.py: 870]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:02:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34018864 -0.89281103 -0.17831536] yaw=-53.0deg	[env.py: 1019]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:02:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=374.7ms, total=374.8ms	[env.py: 1075]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.340, -0.893, -0.178)	[env.py: 1079]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg	[env.py: 1082]
+05/11 20:02:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/11 20:02:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:02:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:02:43 INFO: [Worker 0] Worker 0 house 1 episode 58/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:02:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:02:44 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]
+05/11 20:02:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:02:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:02:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:02:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.858s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:02:50 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.730[m] 87.305[deg]	[grasp_sample.py: 539]
+05/11 20:02:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:02:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:02:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:02:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:02:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:03:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:03:03 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]
+05/11 20:03:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:03:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:03:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.269s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:03:06 INFO: [Worker 0] Feasible grasp found 143 (originally 143): w/ 0.235[m] 5.974[deg]	[grasp_sample.py: 539]
+05/11 20:03:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:03:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:03:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:03:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:03:07 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]
+05/11 20:03:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:03:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:03:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.837s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:03:12 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.566[m] 16.410[deg]	[grasp_sample.py: 539]
+05/11 20:03:14 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:03:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:03:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:03:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:03:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:03:15 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]
+05/11 20:03:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:03:15 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]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178782m	[env.py: 870]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:03:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58881316 -0.76139966 -0.17878227] yaw=-78.4deg	[env.py: 1019]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:03:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=346.5ms, total=346.5ms	[env.py: 1075]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -0.761, -0.179)	[env.py: 1079]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.4 deg	[env.py: 1082]
+05/11 20:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/11 20:03:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:03:15 INFO: [Worker 0] Worker 0 house 1 episode 56/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:03:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:03:16 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]
+05/11 20:03:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:03:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:03:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.221s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:03:32 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 20:03:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:03:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:03:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:03:33 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]
+05/11 20:03:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:03:33 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]
+05/11 20:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104224m	[env.py: 870]
+05/11 20:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:03:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.6ms, total=231.6ms	[env.py: 1105]
+05/11 20:03:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:03:34 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:03:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:03:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:03:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:03:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:03:35 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]
+05/11 20:03:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:03:35 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]
+05/11 20:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198908m	[env.py: 870]
+05/11 20:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:03:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=243.6ms, total=243.7ms	[env.py: 1105]
+05/11 20:03:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:03:36 ERROR: [Worker 0] Worker 0 house 1 episode 58 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:03:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:03:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:03:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:03:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:03:37 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]
+05/11 20:03:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:03:37 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]
+05/11 20:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192077m	[env.py: 870]
+05/11 20:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:03:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=501.3ms, total=501.4ms	[env.py: 1105]
+05/11 20:03:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:03:38 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]
+05/11 20:03:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:03:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:03:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:03:39 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]
+05/11 20:03:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:03:39 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]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151731m	[env.py: 870]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:03:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28165899 -1.10433829 -0.15173057] yaw=-32.8deg	[env.py: 1019]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30298771 -0.99023365 -0.15173057] yaw=-42.4deg	[env.py: 1019]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36260837 -1.16243628 -0.15173057] yaw=-33.0deg	[env.py: 1019]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:03:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=215.4ms, total=215.4ms	[env.py: 1075]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.104, -0.152)	[env.py: 1079]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg	[env.py: 1082]
+05/11 20:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/11 20:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:03:39 INFO: [Worker 0] Worker 0 house 1 episode 60/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:03:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:03:40 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]
+05/11 20:03:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:03:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:03:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:03:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:03:47 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.676[m] 87.788[deg]	[grasp_sample.py: 539]
+05/11 20:03:48 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:03:49 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:03:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:03:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:03:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:03:50 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]
+05/11 20:03:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:03:50 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]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121336m	[env.py: 870]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:03:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24824334 -0.95265614 -0.1213361 ] yaw=-51.3deg	[env.py: 1019]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:03:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=243.1ms, total=243.2ms	[env.py: 1075]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.248, -0.953, -0.121)	[env.py: 1079]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg	[env.py: 1082]
+05/11 20:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/11 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:03:51 INFO: [Worker 0] Worker 0 house 1 episode 61/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:03:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:03:51 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]
+05/11 20:03:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:03:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:03:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:03:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.430s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:03:53 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:03:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:03:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:03:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:03:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:03:55 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]
+05/11 20:03:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:03:55 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]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117558m	[env.py: 870]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:03:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4208886  -1.10529006 -0.11755832] yaw=-60.3deg	[env.py: 1019]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17881837 -1.02240571 -0.11755832] yaw=-31.5deg	[env.py: 1019]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:03:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.0ms, total=229.1ms	[env.py: 1075]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -1.105, -0.118)	[env.py: 1079]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.3 deg	[env.py: 1082]
+05/11 20:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/11 20:03:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:03:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:03:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:03:55 INFO: [Worker 0] Worker 0 house 1 episode 62/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:03:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:03:56 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]
+05/11 20:03:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:03:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:03:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:04:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:04:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.185s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:04:01 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.667[m] 85.961[deg]	[grasp_sample.py: 539]
+05/11 20:04:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:04:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:04:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:04:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:04:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:04:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:04:19 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:04:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:04:19 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/11 20:04:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:04:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:04:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 17.06s (batch: 5.82s, save: 11.25s)	[pipeline.py: 300]
+05/11 20:04:37 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=1.03s:
+  episode_total: mean=98.99s, total=197.98s, count=2, min=2401.2ms, max=195577.8ms
+  sensor_polling: mean=460.0ms, total=129.72s, count=282, min=289.4ms, max=729.8ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11246.6ms, max=11246.6ms
+  physics_step: mean=28.7ms, total=8.10s, count=282, min=15.5ms, max=84.3ms
+  save_batch_prep: mean=5.82s, total=5.82s, count=1, min=5816.6ms, max=5816.6ms
+  task_sampling: mean=516.2ms, total=1.03s, count=2, min=489.5ms, max=542.8ms
+  task_specific_sample: mean=512.4ms, total=1.02s, count=2, min=486.4ms, max=538.4ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.1ms, max=3.0ms
+  mj_forward_sync: mean=562.1us, total=1.1ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=12.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:04:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:04:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:04:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:04:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:04:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:04:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:04:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:04:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:04:38 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]
+05/11 20:04:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:04:38 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]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170802m	[env.py: 870]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:04:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47078041 -1.04528517 -0.17080154] yaw=-52.0deg	[env.py: 1019]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:04:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=218.7ms, total=218.7ms	[env.py: 1075]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -1.045, -0.171)	[env.py: 1079]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg	[env.py: 1082]
+05/11 20:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/11 20:04:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:04:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:04:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:04:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:04:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:04:39 INFO: [Worker 0] Worker 0 house 1 episode 50/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:04:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:04:39 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]
+05/11 20:04:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:04:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:04:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.310s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:04:40 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.611[m] 91.400[deg]	[grasp_sample.py: 539]
+05/11 20:04:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:04:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:04:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:04:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:04:51 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:05:07 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:05:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:05:17 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:05:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:05:17 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/11 20:05:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:05:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:05:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:05:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:05:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.07s (batch: 3.61s, save: 11.45s)	[pipeline.py: 300]
+05/11 20:05:33 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.57s:
+  episode_total: mean=181.13s, total=181.13s, count=1, min=181131.9ms, max=181131.9ms
+  sensor_polling: mean=459.7ms, total=122.29s, count=266, min=315.1ms, max=820.0ms
+  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11454.1ms, max=11454.1ms
+  physics_step: mean=27.7ms, total=7.36s, count=266, min=15.0ms, max=44.1ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3611.1ms, max=3611.1ms
+  task_sampling: mean=569.9ms, total=569.9ms, count=1, min=569.9ms, max=569.9ms
+  task_specific_sample: mean=565.9ms, total=565.9ms, count=1, min=565.9ms, max=565.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=415.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.6us, 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]
+05/11 20:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:05:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:05:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:05:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:05:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:05:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:05:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159444m	[env.py: 870]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:05:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33776382 -1.20052949 -0.15944399] yaw=-46.0deg	[env.py: 1019]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:05:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=314.7ms, total=314.8ms	[env.py: 1075]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -1.201, -0.159)	[env.py: 1079]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg	[env.py: 1082]
+05/11 20:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/11 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:05:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:05:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:05:35 INFO: [Worker 0] Worker 0 house 1 episode 54/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:05:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:05:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:05:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:05:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:05:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:05:36 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/11 20:05:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.705s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:05:37 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.630[m] 87.515[deg]	[grasp_sample.py: 539]
+05/11 20:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:38 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:05:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:05:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:05:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:05:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:05:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:05:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:05:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:05:39 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]
+05/11 20:05:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:05:39 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]
+05/11 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183223m	[env.py: 870]
+05/11 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:05:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27303998 -1.22071611 -0.18322337] yaw=-45.4deg	[env.py: 1019]
+05/11 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:05:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56516084 -0.89401971 -0.18322337] yaw=-72.9deg	[env.py: 1019]
+05/11 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:05:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.4ms	[env.py: 1075]
+05/11 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.273, -1.221, -0.183)	[env.py: 1079]
+05/11 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg	[env.py: 1082]
+05/11 20:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/11 20:05:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:05:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:05:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:05:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:05:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:05:40 INFO: [Worker 0] Worker 0 house 1 episode 55/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:05:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:05:40 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]
+05/11 20:05:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:05:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:05:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:05:47 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]
+05/11 20:05:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:05:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:05:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:05:48 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.122[m] 12.286[deg]	[grasp_sample.py: 539]
+05/11 20:05:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:05:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:05:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:05:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.089s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:05:49 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.638[m] 86.284[deg]	[grasp_sample.py: 539]
+05/11 20:05:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:05:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:05:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:05:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.66s (batch: 3.66s, save: 10.01s)	[pipeline.py: 300]
+05/11 20:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:05:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:05:50 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=1.35s:
+  episode_total: mean=139.49s, total=278.97s, count=2, min=91496.8ms, max=187477.9ms
+  sensor_polling: mean=445.9ms, total=188.18s, count=422, min=280.5ms, max=935.9ms
+  physics_step: mean=27.2ms, total=11.49s, count=422, min=15.1ms, max=96.0ms
+  save_trajectories: mean=10.01s, total=10.01s, count=1, min=10008.6ms, max=10008.6ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3655.1ms, max=3655.1ms
+  task_sampling: mean=674.3ms, total=1.35s, count=2, min=658.7ms, max=690.0ms
+  task_specific_sample: mean=671.2ms, total=1.34s, count=2, min=654.7ms, max=687.7ms
+  scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=1.1ms, max=1.2ms
+  mj_forward_sync: mean=429.0us, 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]
+05/11 20:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:05:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:05:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:05:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:05:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:05:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:05:52 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]
+05/11 20:05:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:05:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146344m	[env.py: 870]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:05:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28475495 -1.00874311 -0.14634443] yaw=-49.8deg	[env.py: 1019]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55377381 -0.91940998 -0.14634443] yaw=-55.3deg	[env.py: 1019]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:05:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=381.6ms, total=381.6ms	[env.py: 1075]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -1.009, -0.146)	[env.py: 1079]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg	[env.py: 1082]
+05/11 20:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/11 20:05:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:05:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:05:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:05:52 INFO: [Worker 0] Worker 0 house 1 episode 59/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:05:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:05:52 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]
+05/11 20:05:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:05:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:05:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.539s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:06:00 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.727[m] 80.610[deg]	[grasp_sample.py: 539]
+05/11 20:06:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:06:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:06:01 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]
+05/11 20:06:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:06:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:06:02 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:06:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:06:02 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.122[m] 12.286[deg]	[grasp_sample.py: 539]
+05/11 20:06:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:06:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:06:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:06:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:03 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]
+05/11 20:06:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:03 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]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103986m	[env.py: 870]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.22356154 -0.98320943 -0.10398607] yaw=-48.2deg	[env.py: 1019]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.42593257 -0.99365837 -0.10398607] yaw=-54.6deg	[env.py: 1019]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5748353  -0.91020396 -0.10398607] yaw=-59.4deg	[env.py: 1019]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.0ms, total=177.1ms	[env.py: 1075]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -0.983, -0.104)	[env.py: 1079]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg	[env.py: 1082]
+05/11 20:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/11 20:06:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:06:03 INFO: [Worker 0] Worker 0 house 1 episode 60/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:06:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:06:04 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]
+05/11 20:06:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:06:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.653s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:06:05 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:07 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]
+05/11 20:06:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:07 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]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193568m	[env.py: 870]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31284326 -0.85415141 -0.19356771] yaw=-65.4deg	[env.py: 1019]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45069273 -0.80227433 -0.19356771] yaw=-62.0deg	[env.py: 1019]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43707648 -0.9796675  -0.19356771] yaw=-48.3deg	[env.py: 1019]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.5ms, total=163.6ms	[env.py: 1075]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -0.854, -0.194)	[env.py: 1079]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg	[env.py: 1082]
+05/11 20:06:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/11 20:06:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:06:07 INFO: [Worker 0] Worker 0 house 1 episode 61/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:06:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:06:07 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]
+05/11 20:06:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:06:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.438s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:06:09 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:10 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]
+05/11 20:06:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:10 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]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135343m	[env.py: 870]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35096719 -0.88320594 -0.13534301] yaw=-65.4deg	[env.py: 1019]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58187837 -0.89368882 -0.13534301] yaw=-66.0deg	[env.py: 1019]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.3ms, total=219.3ms	[env.py: 1075]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.351, -0.883, -0.135)	[env.py: 1079]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg	[env.py: 1082]
+05/11 20:06:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/11 20:06:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:06:11 INFO: [Worker 0] Worker 0 house 1 episode 62/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:06:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:06:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:06:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:06:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.387s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:06:12 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:13 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]
+05/11 20:06:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:13 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]
+05/11 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170186m	[env.py: 870]
+05/11 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=273.0ms, total=273.1ms	[env.py: 1105]
+05/11 20:06:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:06:14 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]
+05/11 20:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:15 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]
+05/11 20:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183903m	[env.py: 870]
+05/11 20:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25484875 -0.93936665 -0.18390292] yaw=-51.9deg	[env.py: 1019]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=222.7ms, total=222.8ms	[env.py: 1075]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -0.939, -0.184)	[env.py: 1079]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg	[env.py: 1082]
+05/11 20:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/11 20:06:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:06:16 INFO: [Worker 0] Worker 0 house 1 episode 64/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:06:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:06:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:06:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:06:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:06:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:06:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:06:17 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]
+05/11 20:06:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:06:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:06:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.762s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:06:18 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:06:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.684s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:06:18 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.122[m] 12.286[deg]	[grasp_sample.py: 539]
+05/11 20:06:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:06:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:06:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:06:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:20 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]
+05/11 20:06:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115559m	[env.py: 870]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40407412 -1.10027417 -0.11555907] yaw=-53.6deg	[env.py: 1019]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=390.6ms, total=390.6ms	[env.py: 1075]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -1.100, -0.116)	[env.py: 1079]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg	[env.py: 1082]
+05/11 20:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/11 20:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:06:20 INFO: [Worker 0] Worker 0 house 1 episode 65/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:06:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:06:20 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]
+05/11 20:06:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:06:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:06:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:22 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:06:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.869s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:06:22 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.669[m] 88.856[deg]	[grasp_sample.py: 539]
+05/11 20:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:24 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:06:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:26 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]
+05/11 20:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112537m	[env.py: 870]
+05/11 20:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=260.2ms, total=260.3ms	[env.py: 1105]
+05/11 20:06:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:06:26 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]
+05/11 20:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:27 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]
+05/11 20:06:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:27 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]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188136m	[env.py: 870]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46078463 -1.02608772 -0.18813618] yaw=-63.7deg	[env.py: 1019]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41988611 -1.08295927 -0.18813618] yaw=-39.6deg	[env.py: 1019]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27239057 -1.12371702 -0.18813618] yaw=-39.3deg	[env.py: 1019]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.3ms, total=168.4ms	[env.py: 1075]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.461, -1.026, -0.188)	[env.py: 1079]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg	[env.py: 1082]
+05/11 20:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/11 20:06:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:06:28 INFO: [Worker 0] Worker 0 house 1 episode 67/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:06:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:06:28 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]
+05/11 20:06:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:06:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:06:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.695s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:06:30 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.618[m] 82.420[deg]	[grasp_sample.py: 539]
+05/11 20:06:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:06:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:06:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:06:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:06:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:06:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:06:34 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:06:35 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 20:06:35 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=False episode_total=0.55s:
+  episode_total: mean=116.56s, total=116.56s, count=1, min=116556.0ms, max=116556.0ms
+  sensor_polling: mean=449.5ms, total=62.93s, count=140, min=321.4ms, max=828.3ms
+  physics_step: mean=25.4ms, total=3.55s, count=140, min=13.5ms, max=93.3ms
+  task_sampling: mean=546.6ms, total=546.6ms, count=1, min=546.6ms, max=546.6ms
+  task_specific_sample: mean=542.0ms, total=542.0ms, count=1, min=542.0ms, max=542.0ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=638.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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]
+05/11 20:06:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:36 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]
+05/11 20:06:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:36 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]
+05/11 20:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128853m	[env.py: 870]
+05/11 20:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=228.4ms, total=228.4ms	[env.py: 1105]
+05/11 20:06:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:06:37 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]
+05/11 20:06:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:38 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]
+05/11 20:06:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:38 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]
+05/11 20:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179064m	[env.py: 870]
+05/11 20:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 143.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4158574  -0.85690898 -0.17906375] yaw=-60.7deg	[env.py: 1019]
+05/11 20:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=700.6ms, total=700.6ms	[env.py: 1075]
+05/11 20:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.416, -0.857, -0.179)	[env.py: 1079]
+05/11 20:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.7 deg	[env.py: 1082]
+05/11 20:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/11 20:06:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:06:39 INFO: [Worker 0] Worker 0 house 1 episode 52/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:06:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:06:39 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]
+05/11 20:06:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:06:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:06:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:06:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.867s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:06:47 INFO: [Worker 0] Feasible grasp found 550 (originally 550): w/ 0.725[m] 78.067[deg]	[grasp_sample.py: 539]
+05/11 20:06:48 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:06:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:06:48 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/11 20:06:49 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:06:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:06:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:06:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:06:50 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]
+05/11 20:06:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:06:50 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]
+05/11 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198857m	[env.py: 870]
+05/11 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:06:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:06:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55625306 -0.89228792 -0.1988568 ] yaw=-61.6deg	[env.py: 1019]
+05/11 20:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:06:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=293.9ms, total=294.0ms	[env.py: 1075]
+05/11 20:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -0.892, -0.199)	[env.py: 1079]
+05/11 20:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.6 deg	[env.py: 1082]
+05/11 20:06:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/11 20:06:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:06:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:06:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:06:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:06:51 INFO: [Worker 0] Worker 0 house 1 episode 53/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:06:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:06:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:06:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:06:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:06:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.199s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:06:53 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.705[m] 89.641[deg]	[grasp_sample.py: 539]
+05/11 20:06:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:06:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:06:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:06:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:06:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:07:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:07:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:07:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:07:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.57s (batch: 3.94s, save: 10.63s)	[pipeline.py: 300]
+05/11 20:07:04 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=3.09s:
+  episode_total: mean=35.39s, total=318.49s, count=9, min=241.4ms, max=188578.3ms
+  sensor_polling: mean=466.2ms, total=192.09s, count=412, min=308.6ms, max=731.2ms
+  physics_step: mean=27.4ms, total=11.29s, count=412, min=14.7ms, max=83.1ms
+  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10632.5ms, max=10632.5ms
+  task_specific_sample: mean=452.5ms, total=4.07s, count=9, min=236.6ms, max=592.0ms
+  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3937.5ms, max=3937.5ms
+  task_sampling: mean=515.0ms, total=3.09s, count=6, min=444.1ms, max=594.8ms
+  task_sampling_failed: mean=338.2ms, total=1.01s, count=3, min=241.4ms, max=518.5ms
+  scene_randomize: mean=1.5ms, total=13.2ms, count=9, min=1.0ms, max=3.1ms
+  mj_forward_sync: mean=536.1us, total=4.8ms, count=9, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.9us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:07:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:07:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:07:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:07:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:07:05 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]
+05/11 20:07:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:07:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104108m	[env.py: 870]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:07:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55561856 -0.81843961 -0.10410827] yaw=-70.1deg	[env.py: 1019]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19090015 -1.03453737 -0.10410827] yaw=-48.5deg	[env.py: 1019]
+05/11 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.37944728 -1.01454787 -0.10410827] yaw=-59.7deg	[env.py: 1019]
+05/11 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:07:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=358.8ms, total=358.8ms	[env.py: 1075]
+05/11 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -0.818, -0.104)	[env.py: 1079]
+05/11 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.1 deg	[env.py: 1082]
+05/11 20:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/11 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:07:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:07:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:07:06 INFO: [Worker 0] Worker 0 house 1 episode 63/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:07:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:07:06 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]
+05/11 20:07:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:07:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:07:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.131s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:07:11 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.783[m] 99.306[deg]	[grasp_sample.py: 539]
+05/11 20:07:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:07:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:07:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:07:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:07:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:07:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:02 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:08:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:10 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:08:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:08:10 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]
+05/11 20:08:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:08:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 350 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.735s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:08:16 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.132[m] 5.918[deg]	[grasp_sample.py: 539]
+05/11 20:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:08:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:08:17 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]
+05/11 20:08:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:08:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.288s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:08:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.110s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:08:19 INFO: [Worker 0] Feasible grasp found 128 (originally 128): w/ 0.205[m] 9.467[deg]	[grasp_sample.py: 539]
+05/11 20:08:21 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:08:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:08:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:08:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:08:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:08:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:08:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:08:22 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]
+05/11 20:08:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:08:22 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]
+05/11 20:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132852m	[env.py: 870]
+05/11 20:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:08:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32566456 -1.04529628 -0.13285182] yaw=-36.3deg	[env.py: 1019]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62677455 -0.88510398 -0.13285182] yaw=-80.0deg	[env.py: 1019]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:08:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=327.8ms, total=327.8ms	[env.py: 1075]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.326, -1.045, -0.133)	[env.py: 1079]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.3 deg	[env.py: 1082]
+05/11 20:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/11 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:08:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:08:23 INFO: [Worker 0] Worker 0 house 1 episode 54/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:08:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:08:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:08:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:08:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:08:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.160s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:08:26 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.717[m] 86.144[deg]	[grasp_sample.py: 539]
+05/11 20:08:27 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:08:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:27 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:08:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:08:27 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/11 20:08:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:08:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:08:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:08:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:08:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:08:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186554m	[env.py: 870]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42733524 -1.08166518 -0.18655365] yaw=-47.6deg	[env.py: 1019]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:08:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=228.2ms, total=228.2ms	[env.py: 1075]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -1.082, -0.187)	[env.py: 1079]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/11 20:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/11 20:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:08:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:08:29 INFO: [Worker 0] Worker 0 house 1 episode 55/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:08:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:08:29 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]
+05/11 20:08:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:08:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:08:31 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]
+05/11 20:08:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:08:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.373s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:08:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.633[m] 84.507[deg]	[grasp_sample.py: 539]
+05/11 20:08:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:08:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:08:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:08:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.313s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:08:33 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.317[m] 28.774[deg]	[grasp_sample.py: 539]
+05/11 20:08:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:08:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:08:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:08:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:08:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:08:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:08:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.218s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:08:36 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.679[m] 53.458[deg]	[grasp_sample.py: 539]
+05/11 20:08:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:08:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:08:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:08:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:08:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:08:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.38s (batch: 3.91s, save: 10.47s)	[pipeline.py: 300]
+05/11 20:08:42 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=1.10s:
+  episode_total: mean=93.50s, total=187.00s, count=2, min=4167.2ms, max=182835.8ms
+  sensor_polling: mean=465.0ms, total=121.84s, count=262, min=285.4ms, max=855.6ms
+  save_trajectories: mean=10.47s, total=10.47s, count=1, min=10466.7ms, max=10466.7ms
+  physics_step: mean=29.4ms, total=7.69s, count=262, min=19.7ms, max=104.9ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3908.3ms, max=3908.3ms
+  task_sampling: mean=547.5ms, total=1.09s, count=2, min=433.5ms, max=661.5ms
+  task_specific_sample: mean=543.9ms, total=1.09s, count=2, min=430.7ms, max=657.0ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.0ms, max=3.0ms
+  mj_forward_sync: mean=504.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:08:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:08:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:08:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:08:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:08:44 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]
+05/11 20:08:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:08:44 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]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154616m	[env.py: 870]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:08:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35995932 -1.14637146 -0.15461641] yaw=-44.3deg	[env.py: 1019]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:08:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=219.7ms, total=219.8ms	[env.py: 1075]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.360, -1.146, -0.155)	[env.py: 1079]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg	[env.py: 1082]
+05/11 20:08:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/11 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:08:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:08:45 INFO: [Worker 0] Worker 0 house 1 episode 56/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:08:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:08:45 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]
+05/11 20:08:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:08:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.281s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:08:48 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.640[m] 84.602[deg]	[grasp_sample.py: 539]
+05/11 20:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:49 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:08:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:08:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:08:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:08:51 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]
+05/11 20:08:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:08:51 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]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173726m	[env.py: 870]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:08:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32572191 -1.04360387 -0.17372601] yaw=-47.2deg	[env.py: 1019]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:08:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=278.3ms, total=278.4ms	[env.py: 1075]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.326, -1.044, -0.174)	[env.py: 1079]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg	[env.py: 1082]
+05/11 20:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/11 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:08:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:08:51 INFO: [Worker 0] Worker 0 house 1 episode 57/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:08:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:08:52 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]
+05/11 20:08:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:08:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:08:54 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:08:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:08:54 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]
+05/11 20:08:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:08:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:08:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.806s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:08:58 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.693[m] 83.506[deg]	[grasp_sample.py: 539]
+05/11 20:08:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:08:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:08:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:08:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:09:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.884s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:09:02 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.230[m] 50.812[deg]	[grasp_sample.py: 539]
+05/11 20:09:04 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:09:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:09:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:09:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:09:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:09:05 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]
+05/11 20:09:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:09:05 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]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117769m	[env.py: 870]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:09:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57649295 -0.91982696 -0.11776926] yaw=-70.3deg	[env.py: 1019]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22496623 -0.94002741 -0.11776926] yaw=-53.0deg	[env.py: 1019]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:09:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=214.0ms, total=214.1ms	[env.py: 1075]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.576, -0.920, -0.118)	[env.py: 1079]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.3 deg	[env.py: 1082]
+05/11 20:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/11 20:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:09:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:09:06 INFO: [Worker 0] Worker 0 house 1 episode 64/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:09:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:09:06 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]
+05/11 20:09:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:09:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:09:10 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:09:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.422s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:09:12 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.750[m] 90.112[deg]	[grasp_sample.py: 539]
+05/11 20:09:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:09:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:09:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:09:38 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:09:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:09:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:09:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:09:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:09:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:09:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:09:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:09:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:09:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:09:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:09:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.48s (batch: 4.30s, save: 12.18s)	[pipeline.py: 300]
+05/11 20:09:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.326s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:09:55 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.540[m] 60.863[deg]	[grasp_sample.py: 539]
+05/11 20:09:56 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=3.40s:
+  episode_total: mean=25.75s, total=231.73s, count=9, min=270.5ms, max=208479.6ms
+  sensor_polling: mean=443.7ms, total=133.10s, count=300, min=292.8ms, max=794.9ms
+  save_trajectories: mean=12.18s, total=12.18s, count=1, min=12178.9ms, max=12178.9ms
+  physics_step: mean=27.0ms, total=8.10s, count=300, min=19.6ms, max=68.7ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4301.5ms, max=4301.5ms
+  task_specific_sample: mean=436.3ms, total=3.93s, count=9, min=266.9ms, max=648.3ms
+  task_sampling: mean=485.9ms, total=3.40s, count=7, min=370.8ms, max=653.4ms
+  task_sampling_failed: mean=277.6ms, total=555.1ms, count=2, min=270.4ms, max=284.7ms
+  scene_randomize: mean=1.4ms, total=12.8ms, count=9, min=0.9ms, max=3.5ms
+  mj_forward_sync: mean=545.0us, total=4.9ms, count=9, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.1us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:09:56 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:09:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:09:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:09:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:09:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:09:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:09:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:09:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:09:57 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]
+05/11 20:09:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:09:57 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]
+05/11 20:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120438m	[env.py: 870]
+05/11 20:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:09:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.8ms, total=193.8ms	[env.py: 1105]
+05/11 20:09:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:09:57 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]
+05/11 20:09:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:09:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:09:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:09:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:09:58 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]
+05/11 20:09:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:09:58 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]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188348m	[env.py: 870]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:09:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48444137 -0.94498898 -0.18834839] yaw=-69.5deg	[env.py: 1019]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:09:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:09:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.8ms, total=251.8ms	[env.py: 1075]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -0.945, -0.188)	[env.py: 1079]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg	[env.py: 1082]
+05/11 20:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/11 20:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:09:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:09:58 INFO: [Worker 0] Worker 0 house 1 episode 65/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:09:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:09:58 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]
+05/11 20:09:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:09:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:09:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:09:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:09:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:09:59 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]
+05/11 20:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:09:59 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]
+05/11 20:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196572m	[env.py: 870]
+05/11 20:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=214.4ms, total=214.5ms	[env.py: 1105]
+05/11 20:09:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:09:59 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:10:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.851s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:10:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.672[m] 85.345[deg]	[grasp_sample.py: 539]
+05/11 20:10:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:10:01 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]
+05/11 20:10:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:10:01 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]
+05/11 20:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146733m	[env.py: 870]
+05/11 20:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:10:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=223.6ms, total=223.7ms	[env.py: 1105]
+05/11 20:10:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:10:01 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]
+05/11 20:10:02 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:10:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:10:03 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]
+05/11 20:10:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:10:03 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]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191216m	[env.py: 870]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:10:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.256177   -1.05521532 -0.1912159 ] yaw=-35.1deg	[env.py: 1019]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50916625 -0.95249421 -0.1912159 ] yaw=-66.2deg	[env.py: 1019]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41917227 -1.11520483 -0.1912159 ] yaw=-49.9deg	[env.py: 1019]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:10:03 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]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.055, -0.191)	[env.py: 1079]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.1 deg	[env.py: 1082]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:10:03 INFO: [Worker 0] Worker 0 house 1 episode 71/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:10:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:10:03 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]
+05/11 20:10:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:10:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:10:03 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]
+05/11 20:10:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:10:03 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]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174797m	[env.py: 870]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:10:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=296.6ms, total=296.7ms	[env.py: 1105]
+05/11 20:10:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:10:03 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]
+05/11 20:10:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:10:05 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]
+05/11 20:10:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:10:05 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]
+05/11 20:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113423m	[env.py: 870]
+05/11 20:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:10:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=328.8ms, total=328.9ms	[env.py: 1105]
+05/11 20:10:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:10:06 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:10:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:10:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:10:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:10:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140774m	[env.py: 870]
+05/11 20:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:10:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=255.1ms, total=255.1ms	[env.py: 1105]
+05/11 20:10:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:10:07 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]
+05/11 20:10:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:10:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:10:09 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]
+05/11 20:10:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:10:09 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]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136810m	[env.py: 870]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:10:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62094875 -0.97358793 -0.13680968] yaw=-69.6deg	[env.py: 1019]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36028096 -1.12516012 -0.13680968] yaw=-40.8deg	[env.py: 1019]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:10:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.6ms, total=230.7ms	[env.py: 1075]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.621, -0.974, -0.137)	[env.py: 1079]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.6 deg	[env.py: 1082]
+05/11 20:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/11 20:10:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:10:09 INFO: [Worker 0] Worker 0 house 1 episode 69/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:10:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:10:09 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]
+05/11 20:10:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:10:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:10:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.025s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:10:10 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.685[m] 77.173[deg]	[grasp_sample.py: 539]
+05/11 20:10:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:10:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:10:11 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.618[m] 93.899[deg]	[grasp_sample.py: 539]
+05/11 20:10:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:10:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:10:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:10:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:10:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:10:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:10:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:10:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:10:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:10:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:10:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:10:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:10:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:10:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:10:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:10:43 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]
+05/11 20:10:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:10:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:10:45 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:10:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.750s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:10:45 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.496[m] 70.357[deg]	[grasp_sample.py: 539]
+05/11 20:10:47 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:10:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:10:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:10:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:10:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104221m	[env.py: 870]
+05/11 20:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:10:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42198311 -1.00614816 -0.10422066] yaw=-58.2deg	[env.py: 1019]
+05/11 20:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:10:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=268.7ms, total=268.8ms	[env.py: 1075]
+05/11 20:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -1.006, -0.104)	[env.py: 1079]
+05/11 20:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg	[env.py: 1082]
+05/11 20:10:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/11 20:10:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:10:49 INFO: [Worker 0] Worker 0 house 1 episode 70/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:10:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:10:49 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]
+05/11 20:10:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:10:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:10:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:10:52 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.692[m] 86.675[deg]	[grasp_sample.py: 539]
+05/11 20:10:53 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:10:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:10:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:10:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:10:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181065m	[env.py: 870]
+05/11 20:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:10:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.2ms, total=218.2ms	[env.py: 1105]
+05/11 20:10:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:10:55 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:10:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:10:56 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]
+05/11 20:10:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:10:56 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]
+05/11 20:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156424m	[env.py: 870]
+05/11 20:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:10:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=240.6ms, total=240.6ms	[env.py: 1105]
+05/11 20:10:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:10:57 ERROR: [Worker 0] Worker 0 house 1 episode 72 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:10:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:10:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:10:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:10:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:10:58 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]
+05/11 20:10:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:10:58 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]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163557m	[env.py: 870]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:10:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47324455 -0.97395735 -0.16355651] yaw=-57.6deg	[env.py: 1019]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:10:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.0ms, total=265.1ms	[env.py: 1075]
+05/11 20:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -0.974, -0.164)	[env.py: 1079]
+05/11 20:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg	[env.py: 1082]
+05/11 20:10:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/11 20:10:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:10:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:10:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:10:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:10:59 INFO: [Worker 0] Worker 0 house 1 episode 73/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:10:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:10:59 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]
+05/11 20:10:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:10:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:11:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.074s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:11:01 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.658[m] 82.491[deg]	[grasp_sample.py: 539]
+05/11 20:11:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:11:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:11:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:11:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:11:08 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:11:11 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:11:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:11:11 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/11 20:11:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:11:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:11:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:11:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.62s (batch: 3.90s, save: 10.72s)	[pipeline.py: 300]
+05/11 20:11:27 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=2.69s:
+  episode_total: mean=56.82s, total=284.11s, count=5, min=252.5ms, max=178237.3ms
+  sensor_polling: mean=447.4ms, total=184.32s, count=412, min=285.6ms, max=735.4ms
+  physics_step: mean=27.9ms, total=11.50s, count=412, min=19.7ms, max=87.8ms
+  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10720.6ms, max=10720.6ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3899.8ms, max=3899.8ms
+  task_specific_sample: mean=580.9ms, total=2.90s, count=5, min=235.3ms, max=1030.6ms
+  task_sampling: mean=671.4ms, total=2.69s, count=4, min=458.4ms, max=1035.4ms
+  task_sampling_failed: mean=252.5ms, total=252.5ms, count=1, min=252.5ms, max=252.5ms
+  scene_randomize: mean=1.6ms, total=7.8ms, count=5, min=1.1ms, max=2.1ms
+  mj_forward_sync: mean=579.4us, total=2.9ms, count=5, min=0.4ms, max=0.8ms
+  policy_setup: mean=12.5us, 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]
+05/11 20:11:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:11:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:11:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:11:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:11:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:11:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:11:28 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]
+05/11 20:11:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:11:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161522m	[env.py: 870]
+05/11 20:11:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:11:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35327526 -0.88205097 -0.16152161] yaw=-49.8deg	[env.py: 1019]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44228181 -0.89385794 -0.16152161] yaw=-67.7deg	[env.py: 1019]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:11:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=237.7ms, total=237.8ms	[env.py: 1075]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.353, -0.882, -0.162)	[env.py: 1079]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg	[env.py: 1082]
+05/11 20:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/11 20:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:11:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:11:29 INFO: [Worker 0] Worker 0 house 1 episode 56/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:11:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:11:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:11:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:11:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:11:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:11:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.284s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:11:33 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 20:11:34 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:11:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:11:34 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/11 20:11:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:11:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:11:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:11:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:11:34 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]
+05/11 20:11:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:11:34 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]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144927m	[env.py: 870]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:11:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40735637 -0.90939353 -0.14492687] yaw=-57.8deg	[env.py: 1019]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:11:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.2ms, total=229.2ms	[env.py: 1075]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.407, -0.909, -0.145)	[env.py: 1079]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg	[env.py: 1082]
+05/11 20:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/11 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:11:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:11:35 INFO: [Worker 0] Worker 0 house 1 episode 57/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:11:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:11:35 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]
+05/11 20:11:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:11:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:11:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:11:42 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.785[m] 83.320[deg]	[grasp_sample.py: 539]
+05/11 20:11:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:11:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:11:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:11:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:11:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:11:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:11:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.51s (batch: 3.69s, save: 9.83s)	[pipeline.py: 300]
+05/11 20:11:48 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=1.37s:
+  episode_total: mean=91.23s, total=182.45s, count=2, min=5504.1ms, max=176946.7ms
+  sensor_polling: mean=439.9ms, total=120.10s, count=273, min=307.1ms, max=794.0ms
+  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9826.2ms, max=9826.2ms
+  physics_step: mean=27.5ms, total=7.50s, count=273, min=19.5ms, max=66.5ms
+  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3686.3ms, max=3686.3ms
+  task_sampling: mean=685.9ms, total=1.37s, count=2, min=581.4ms, max=790.4ms
+  task_specific_sample: mean=682.3ms, total=1.36s, count=2, min=577.2ms, max=787.4ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.7ms, max=2.1ms
+  mj_forward_sync: mean=511.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:11:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:11:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:11:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:11:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:11:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:11:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:11:49 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]
+05/11 20:11:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:11:49 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]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139261m	[env.py: 870]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:11:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46980628 -0.99582323 -0.13926101] yaw=-54.4deg	[env.py: 1019]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51977937 -0.76820948 -0.13926101] yaw=-64.2deg	[env.py: 1019]
+05/11 20:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.17481229 -1.11221305 -0.13926101] yaw=-34.6deg	[env.py: 1019]
+05/11 20:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:11:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.8ms	[env.py: 1075]
+05/11 20:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.470, -0.996, -0.139)	[env.py: 1079]
+05/11 20:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg	[env.py: 1082]
+05/11 20:11:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/11 20:11:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:11:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:11:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:11:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:11:50 INFO: [Worker 0] Worker 0 house 1 episode 58/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:11:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:11:50 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]
+05/11 20:11:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:11:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:11:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.021s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:11:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.663[m] 91.515[deg]	[grasp_sample.py: 539]
+05/11 20:11:54 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:11:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:11:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:11:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:11:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:11:55 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]
+05/11 20:11:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:11:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192129m	[env.py: 870]
+05/11 20:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:11:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38389589 -1.15207077 -0.19212858] yaw=-48.7deg	[env.py: 1019]
+05/11 20:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:11:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=688.7ms, total=688.8ms	[env.py: 1075]
+05/11 20:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -1.152, -0.192)	[env.py: 1079]
+05/11 20:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg	[env.py: 1082]
+05/11 20:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/11 20:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:11:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:11:56 INFO: [Worker 0] Worker 0 house 1 episode 59/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:11:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:11:56 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]
+05/11 20:11:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:11:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:11:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.064s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:11:58 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.628[m] 84.371[deg]	[grasp_sample.py: 539]
+05/11 20:11:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:11:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:11:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:12:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:12:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:27 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:12:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:12:32 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]
+05/11 20:12:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:12:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:12:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.887s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:12:37 INFO: [Worker 0] Feasible grasp found 468 (originally 468): w/ 0.131[m] 22.911[deg]	[grasp_sample.py: 539]
+05/11 20:12:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:12:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:12:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:12:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:12:54 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]
+05/11 20:12:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:12:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:12:57 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:12:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:12:57 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/11 20:13:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.824s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:13:03 INFO: [Worker 0] Feasible grasp found 132 (originally 132): w/ 0.313[m] 30.592[deg]	[grasp_sample.py: 539]
+05/11 20:13:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:04 ERROR: [Worker 0] Worker 0 house 1 episode 73 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:13:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:13:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:06 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]
+05/11 20:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194507m	[env.py: 870]
+05/11 20:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=435.6ms, total=435.7ms	[env.py: 1105]
+05/11 20:13:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:13:06 ERROR: [Worker 0] Worker 0 house 1 episode 74 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:13:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:08 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]
+05/11 20:13:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174026m	[env.py: 870]
+05/11 20:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=505.7ms, total=505.7ms	[env.py: 1105]
+05/11 20:13:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:13:08 ERROR: [Worker 0] Worker 0 house 1 episode 75 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:13:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:09 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]
+05/11 20:13:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:09 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]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192318m	[env.py: 870]
+05/11 20:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=316.9ms, total=316.9ms	[env.py: 1105]
+05/11 20:13:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:13:10 ERROR: [Worker 0] Worker 0 house 1 episode 76 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:13:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:11 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]
+05/11 20:13:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:11 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]
+05/11 20:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187990m	[env.py: 870]
+05/11 20:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=546.0ms, total=546.0ms	[env.py: 1105]
+05/11 20:13:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:13:12 ERROR: [Worker 0] Worker 0 house 1 episode 77 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:13:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:13:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:13:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.98s (batch: 4.25s, save: 10.73s)	[pipeline.py: 300]
+05/11 20:13:13 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.52s:
+  episode_total: mean=47.85s, total=191.38s, count=4, min=204.5ms, max=190723.1ms
+  sensor_polling: mean=465.8ms, total=126.22s, count=271, min=313.1ms, max=812.7ms
+  save_trajectories: mean=10.73s, total=10.73s, count=1, min=10729.6ms, max=10729.6ms
+  physics_step: mean=28.4ms, total=7.70s, count=271, min=15.3ms, max=64.8ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4250.4ms, max=4250.4ms
+  task_specific_sample: mean=290.7ms, total=1.16s, count=4, min=199.8ms, max=512.7ms
+  task_sampling_failed: mean=220.6ms, total=661.7ms, count=3, min=204.5ms, max=233.3ms
+  task_sampling: mean=515.7ms, total=515.7ms, count=1, min=515.7ms, max=515.7ms
+  scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=562.0us, total=2.2ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.6us, total=0.0ms, count=1, 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]
+05/11 20:13:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:14 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]
+05/11 20:13:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:14 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]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144771m	[env.py: 870]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.4725418  -0.89483458 -0.14477089] yaw=-69.9deg	[env.py: 1019]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50545419 -1.05837199 -0.14477089] yaw=-47.2deg	[env.py: 1019]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=434.6ms, total=434.6ms	[env.py: 1075]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.473, -0.895, -0.145)	[env.py: 1079]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.9 deg	[env.py: 1082]
+05/11 20:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/11 20:13:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:14 INFO: [Worker 0] Worker 0 house 1 episode 78/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:14 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]
+05/11 20:13:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:15 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]
+05/11 20:13:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154189m	[env.py: 870]
+05/11 20:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.581755   -0.85492705 -0.15418937] yaw=-56.4deg	[env.py: 1019]
+05/11 20:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=423.1ms, total=423.2ms	[env.py: 1075]
+05/11 20:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -0.855, -0.154)	[env.py: 1079]
+05/11 20:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg	[env.py: 1082]
+05/11 20:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/11 20:13:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:16 INFO: [Worker 0] Worker 0 house 1 episode 72/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:13:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:16 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]
+05/11 20:13:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.582s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:13:20 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.752[m] 88.531[deg]	[grasp_sample.py: 539]
+05/11 20:13:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:13:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.889s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:13:21 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.715[m] 87.308[deg]	[grasp_sample.py: 539]
+05/11 20:13:21 ERROR: [Worker 0] Worker 0 house 1 episode 72 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:13:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:23 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]
+05/11 20:13:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:23 ERROR: [Worker 0] Worker 0 house 1 episode 78 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:13:23 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]
+05/11 20:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166454m	[env.py: 870]
+05/11 20:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=214.0ms, total=214.1ms	[env.py: 1105]
+05/11 20:13:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:13:23 ERROR: [Worker 0] Worker 0 house 1 episode 73 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:13:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:13:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:24 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]
+05/11 20:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186196m	[env.py: 870]
+05/11 20:13:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=251.4ms, total=251.4ms	[env.py: 1105]
+05/11 20:13:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:13:25 ERROR: [Worker 0] Worker 0 house 1 episode 79 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:13:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:25 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]
+05/11 20:13:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:25 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]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112652m	[env.py: 870]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22954853 -0.94365335 -0.11265203] yaw=-53.8deg	[env.py: 1019]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=247.0ms, total=247.0ms	[env.py: 1075]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -0.944, -0.113)	[env.py: 1079]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg	[env.py: 1082]
+05/11 20:13:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/11 20:13:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:25 INFO: [Worker 0] Worker 0 house 1 episode 74/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:13:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:26 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]
+05/11 20:13:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:26 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]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111750m	[env.py: 870]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12688175 -1.05455292 -0.11174963] yaw=-43.1deg	[env.py: 1019]
+05/11 20:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36475071 -0.81000365 -0.11174963] yaw=-49.1deg	[env.py: 1019]
+05/11 20:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33573166 -1.0546893  -0.11174963] yaw=-39.5deg	[env.py: 1019]
+05/11 20:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=246.6ms, total=246.7ms	[env.py: 1075]
+05/11 20:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.127, -1.055, -0.112)	[env.py: 1079]
+05/11 20:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.1 deg	[env.py: 1082]
+05/11 20:13:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/11 20:13:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:27 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:27 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]
+05/11 20:13:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.858s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:13:27 ERROR: [Worker 0] Worker 0 house 1 episode 74 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:13:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.620s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:13:29 ERROR: [Worker 0] Worker 0 house 1 episode 80 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:13:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:29 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]
+05/11 20:13:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:29 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]
+05/11 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198107m	[env.py: 870]
+05/11 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=358.2ms, total=358.3ms	[env.py: 1105]
+05/11 20:13:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:13:29 ERROR: [Worker 0] Worker 0 house 1 episode 75 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:13:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:13:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:30 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]
+05/11 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116889m	[env.py: 870]
+05/11 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39195484 -1.03801905 -0.11688923] yaw=-51.2deg	[env.py: 1019]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.1ms, total=281.1ms	[env.py: 1075]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -1.038, -0.117)	[env.py: 1079]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg	[env.py: 1082]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:31 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:13:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:31 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]
+05/11 20:13:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:31 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]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158726m	[env.py: 870]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27104278 -0.88548248 -0.15872622] yaw=-44.4deg	[env.py: 1019]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=225.0ms, total=225.0ms	[env.py: 1075]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.271, -0.885, -0.159)	[env.py: 1079]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.4 deg	[env.py: 1082]
+05/11 20:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:31 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:13:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.033s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:13:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.716[m] 86.470[deg]	[grasp_sample.py: 539]
+05/11 20:13:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.937s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:13:33 ERROR: [Worker 0] Worker 0 house 1 episode 76 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:13:34 ERROR: [Worker 0] Worker 0 house 1 episode 81 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:13:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:35 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]
+05/11 20:13:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:35 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]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104937m	[env.py: 870]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4529478  -0.83072585 -0.10493697] yaw=-59.5deg	[env.py: 1019]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=266.7ms, total=266.8ms	[env.py: 1075]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.453, -0.831, -0.105)	[env.py: 1079]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg	[env.py: 1082]
+05/11 20:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/11 20:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:36 INFO: [Worker 0] Worker 0 house 1 episode 77/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:36 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]
+05/11 20:13:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:36 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]
+05/11 20:13:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:36 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]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167518m	[env.py: 870]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46298058 -0.8264508  -0.16751788] yaw=-59.0deg	[env.py: 1019]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49553021 -1.06401074 -0.16751788] yaw=-45.6deg	[env.py: 1019]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.9ms, total=233.9ms	[env.py: 1075]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -0.826, -0.168)	[env.py: 1079]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg	[env.py: 1082]
+05/11 20:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/11 20:13:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:37 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:37 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]
+05/11 20:13:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.029s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:13:38 ERROR: [Worker 0] Worker 0 house 1 episode 77 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:13:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:13:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:39 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]
+05/11 20:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182447m	[env.py: 870]
+05/11 20:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=227.0ms, total=227.0ms	[env.py: 1105]
+05/11 20:13:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:13:40 ERROR: [Worker 0] Worker 0 house 1 episode 78 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:13:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:13:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:41 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]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154817m	[env.py: 870]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31955626 -1.06517347 -0.15481673] yaw=-53.9deg	[env.py: 1019]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62911532 -0.89479909 -0.15481673] yaw=-62.0deg	[env.py: 1019]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.7ms, total=217.7ms	[env.py: 1075]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.320, -1.065, -0.155)	[env.py: 1079]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.9 deg	[env.py: 1082]
+05/11 20:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/11 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:42 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:42 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]
+05/11 20:13:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.577s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:13:45 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.734[m] 93.327[deg]	[grasp_sample.py: 539]
+05/11 20:13:46 ERROR: [Worker 0] Worker 0 house 1 episode 79 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:13:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:13:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:47 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]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139265m	[env.py: 870]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30071426 -1.23471742 -0.13926464] yaw=-40.2deg	[env.py: 1019]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58314719 -0.93342815 -0.13926464] yaw=-67.5deg	[env.py: 1019]
+05/11 20:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=223.0ms	[env.py: 1075]
+05/11 20:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -1.235, -0.139)	[env.py: 1079]
+05/11 20:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.2 deg	[env.py: 1082]
+05/11 20:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/11 20:13:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:48 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:13:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.343s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:13:53 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.660[m] 82.722[deg]	[grasp_sample.py: 539]
+05/11 20:13:55 ERROR: [Worker 0] Worker 0 house 1 episode 80 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:13:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:13:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:13:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:13:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:13:57 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]
+05/11 20:13:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:13:57 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]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159289m	[env.py: 870]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:13:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.57700094 -0.73162692 -0.15928877] yaw=-64.5deg	[env.py: 1019]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:13:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=236.6ms, total=236.7ms	[env.py: 1075]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.732, -0.159)	[env.py: 1079]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.5 deg	[env.py: 1082]
+05/11 20:13:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/11 20:13:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:13:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:13:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:13:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:13:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:13:57 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:13:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:13:57 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]
+05/11 20:13:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:13:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:13:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.184s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:13:59 ERROR: [Worker 0] Worker 0 house 1 episode 81 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:14:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:14:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:14:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:14:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:14:01 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]
+05/11 20:14:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:14:01 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]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117871m	[env.py: 870]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:14:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53047093 -1.02637214 -0.11787103] yaw=-58.3deg	[env.py: 1019]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32652106 -1.16415536 -0.11787103] yaw=-40.7deg	[env.py: 1019]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:14:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.1ms, total=228.1ms	[env.py: 1075]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -1.026, -0.118)	[env.py: 1079]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg	[env.py: 1082]
+05/11 20:14:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/11 20:14:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:14:01 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:14:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:14:01 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]
+05/11 20:14:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:14:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:14:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.113s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:14:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.643[m] 79.429[deg]	[grasp_sample.py: 539]
+05/11 20:14:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:14:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:14:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:14:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:14:08 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:14:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 35.401s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:14:12 ERROR: [Worker 0] Worker 0 house 1 episode 82 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 20:14:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:14:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:14:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:14:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:14:14 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]
+05/11 20:14:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:14:14 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]
+05/11 20:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110838m	[env.py: 870]
+05/11 20:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:14:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -84.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=255.5ms, total=255.6ms	[env.py: 1105]
+05/11 20:14:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:14:14 ERROR: [Worker 0] Worker 0 house 1 episode 83 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:14:14 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:14:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:14:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:14:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:14:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:14:15 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]
+05/11 20:14:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:14:15 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]
+05/11 20:14:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:14:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:14:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141275m	[env.py: 870]
+05/11 20:14:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:14:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28126199 -1.13753262 -0.14127531] yaw=-52.2deg	[env.py: 1019]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:14:16 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]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -1.138, -0.141)	[env.py: 1079]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg	[env.py: 1082]
+05/11 20:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/11 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:14:16 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:14:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:14:16 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]
+05/11 20:14:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:14:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:14:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.115s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:14:21 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.745[m] 86.835[deg]	[grasp_sample.py: 539]
+05/11 20:14:23 ERROR: [Worker 0] Worker 0 house 1 episode 84 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:14:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:14:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:14:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:14:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:14:24 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]
+05/11 20:14:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:14:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136285m	[env.py: 870]
+05/11 20:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:14:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=246.6ms, total=246.7ms	[env.py: 1105]
+05/11 20:14:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:14:24 ERROR: [Worker 0] Worker 0 house 1 episode 85 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:14:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:14:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:14:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:14:26 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]
+05/11 20:14:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:14:26 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]
+05/11 20:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189191m	[env.py: 870]
+05/11 20:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:14:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.4ms, total=226.4ms	[env.py: 1105]
+05/11 20:14:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:14:26 ERROR: [Worker 0] Worker 0 house 1 episode 86 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:14:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:14:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:14:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:14:28 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]
+05/11 20:14:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:14:28 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]
+05/11 20:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139120m	[env.py: 870]
+05/11 20:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:14:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=294.9ms, total=295.0ms	[env.py: 1105]
+05/11 20:14:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:14:28 ERROR: [Worker 0] Worker 0 house 1 episode 87 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:14:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:14:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:14:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:14:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:14:29 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]
+05/11 20:14:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:14:29 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]
+05/11 20:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167954m	[env.py: 870]
+05/11 20:14:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:14:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40412887 -1.03092065 -0.1679536 ] yaw=-57.5deg	[env.py: 1019]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:14:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=297.6ms, total=297.7ms	[env.py: 1075]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -1.031, -0.168)	[env.py: 1079]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg	[env.py: 1082]
+05/11 20:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/11 20:14:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:14:30 INFO: [Worker 0] Worker 0 house 1 episode 88/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:14:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:14:30 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]
+05/11 20:14:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:14:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:14:32 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:14:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:14:32 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/11 20:14:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.378s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:14:36 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.655[m] 87.394[deg]	[grasp_sample.py: 539]
+05/11 20:14:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:14:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:14:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:14:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:14:44 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:14:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:14:44 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/11 20:14:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:14:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:14:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.60s (batch: 3.42s, save: 10.19s)	[pipeline.py: 300]
+05/11 20:14:46 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=1.44s:
+  episode_total: mean=87.85s, total=175.69s, count=2, min=4443.0ms, max=171248.9ms
+  sensor_polling: mean=446.1ms, total=116.88s, count=262, min=269.3ms, max=755.6ms
+  save_trajectories: mean=10.19s, total=10.19s, count=1, min=10185.9ms, max=10185.9ms
+  physics_step: mean=28.0ms, total=7.33s, count=262, min=19.8ms, max=76.0ms
+  save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3415.3ms, max=3415.3ms
+  task_sampling: mean=719.1ms, total=1.44s, count=2, min=541.4ms, max=896.8ms
+  task_specific_sample: mean=715.4ms, total=1.43s, count=2, min=537.1ms, max=893.7ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=551.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  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]
+05/11 20:14:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:14:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:14:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:14:48 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]
+05/11 20:14:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:14:48 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]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104903m	[env.py: 870]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:14:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39976489 -0.79974522 -0.10490316] yaw=-53.8deg	[env.py: 1019]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=230.7ms, total=230.8ms	[env.py: 1075]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -0.800, -0.105)	[env.py: 1079]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg	[env.py: 1082]
+05/11 20:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/11 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:14:48 INFO: [Worker 0] Worker 0 house 1 episode 60/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:14:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:14:49 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]
+05/11 20:14:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:14:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:14:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.807s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:14:50 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:14:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:14:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:14:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:14:52 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]
+05/11 20:14:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:14:52 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]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165448m	[env.py: 870]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:14:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.5891229  -0.85033069 -0.16544841] yaw=-69.5deg	[env.py: 1019]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:14:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.3ms, total=209.4ms	[env.py: 1075]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.589, -0.850, -0.165)	[env.py: 1079]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg	[env.py: 1082]
+05/11 20:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/11 20:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:14:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:14:53 INFO: [Worker 0] Worker 0 house 1 episode 61/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:14:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:14:53 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]
+05/11 20:14:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:14:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:15:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:15:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:15:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.67s (batch: 4.27s, save: 12.40s)	[pipeline.py: 300]
+05/11 20:15:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.438s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:15:01 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.774[m] 85.420[deg]	[grasp_sample.py: 539]
+05/11 20:15:02 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=1.12s:
+  episode_total: mean=105.82s, total=211.64s, count=2, min=4124.2ms, max=207518.3ms
+  sensor_polling: mean=446.9ms, total=130.50s, count=292, min=298.7ms, max=811.6ms
+  save_trajectories: mean=12.40s, total=12.40s, count=1, min=12401.1ms, max=12401.1ms
+  physics_step: mean=27.7ms, total=8.09s, count=292, min=19.9ms, max=69.1ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4267.1ms, max=4267.1ms
+  task_sampling: mean=562.5ms, total=1.12s, count=2, min=544.8ms, max=580.2ms
+  task_specific_sample: mean=558.8ms, total=1.12s, count=2, min=542.0ms, max=575.6ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=592.0us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:15:03 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:15:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:15:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:15:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:15:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:15:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:15:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:15:03 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]
+05/11 20:15:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:15:03 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]
+05/11 20:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145870m	[env.py: 870]
+05/11 20:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:15:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47072537 -0.81374648 -0.14586972] yaw=-56.1deg	[env.py: 1019]
+05/11 20:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:15:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.6ms, total=223.7ms	[env.py: 1075]
+05/11 20:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.814, -0.146)	[env.py: 1079]
+05/11 20:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg	[env.py: 1082]
+05/11 20:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/11 20:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:15:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:15:04 INFO: [Worker 0] Worker 0 house 1 episode 58/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:15:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:15:04 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]
+05/11 20:15:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:15:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:15:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:15:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:15:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:15:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:15:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:15:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:15:05 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]
+05/11 20:15:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:15:05 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]
+05/11 20:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172386m	[env.py: 870]
+05/11 20:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:15:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=485.7ms, total=485.7ms	[env.py: 1105]
+05/11 20:15:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:15:05 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]
+05/11 20:15:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.991s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:15:06 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:15:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:15:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:15:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:15:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:15:07 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]
+05/11 20:15:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:15:07 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]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122467m	[env.py: 870]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:15:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38087044 -1.09479873 -0.12246747] yaw=-52.5deg	[env.py: 1019]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:15:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=297.8ms, total=297.9ms	[env.py: 1075]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -1.095, -0.122)	[env.py: 1079]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg	[env.py: 1082]
+05/11 20:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/11 20:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:15:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:15:07 INFO: [Worker 0] Worker 0 house 1 episode 63/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:15:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:15:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:15:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:15:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:15:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:15:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:15:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:15:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:15:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:15:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:15:08 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]
+05/11 20:15:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:15:08 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]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170909m	[env.py: 870]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:15:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32301047 -0.9739876  -0.17090938] yaw=-55.6deg	[env.py: 1019]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48542743 -0.78694031 -0.17090938] yaw=-70.4deg	[env.py: 1019]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:15:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=424.7ms, total=424.7ms	[env.py: 1075]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -0.974, -0.171)	[env.py: 1079]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg	[env.py: 1082]
+05/11 20:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/11 20:15:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:15:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:15:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:15:09 INFO: [Worker 0] Worker 0 house 1 episode 59/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:15:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:15:09 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]
+05/11 20:15:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:15:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:15:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.970s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:15:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.678[m] 90.665[deg]	[grasp_sample.py: 539]
+05/11 20:15:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:15:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:15:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:15:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:15:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.022s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:15:32 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.696[m] 91.955[deg]	[grasp_sample.py: 539]
+05/11 20:15:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:15:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:15:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:15:38 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:15:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:15:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:15:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:15:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.177s, found 371 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:15:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.790s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:15:40 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.050[m] 1.897[deg]	[grasp_sample.py: 539]
+05/11 20:15:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:15:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:15:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:15:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:15:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:15:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:16:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:39 INFO: [Worker 0] Worker 0 house 1 episode 82 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:16:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:16:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:16:54 INFO: [Worker 0] Worker 0 house 1 episode 88 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:16:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:07 INFO: [Worker 0] Object is not in grasp! 0.00174 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:17:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:17:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:17:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:17:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.182s, found 407 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:17:09 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:17:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:17:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:17:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.432s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:17:11 INFO: [Worker 0] Feasible grasp found 613 (originally 613): w/ 0.062[m] 19.804[deg]	[grasp_sample.py: 539]
+05/11 20:17:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:17:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:17:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:17 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:17:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:17:17 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/11 20:17:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:17:24 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:17:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:17:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:17:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.13s (batch: 4.01s, save: 11.12s)	[pipeline.py: 300]
+05/11 20:17:25 INFO: [Worker 0] [PROFILE] Episode 82 house 1 success=True episode_total=4.14s:
+  episode_total: mean=21.31s, total=234.44s, count=11, min=225.6ms, max=204191.5ms
+  sensor_polling: mean=446.5ms, total=133.94s, count=300, min=321.5ms, max=705.8ms
+  save_trajectories: mean=11.12s, total=11.12s, count=1, min=11115.4ms, max=11115.4ms
+  physics_step: mean=27.9ms, total=8.36s, count=300, min=19.7ms, max=62.1ms
+  task_specific_sample: mean=448.8ms, total=4.94s, count=11, min=221.1ms, max=750.9ms
+  task_sampling: mean=517.3ms, total=4.14s, count=8, min=432.3ms, max=755.1ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.1ms, max=4012.1ms
+  task_sampling_failed: mean=277.9ms, total=833.6ms, count=3, min=225.6ms, max=369.7ms
+  scene_randomize: mean=1.4ms, total=15.4ms, count=11, min=0.9ms, max=2.9ms
+  mj_forward_sync: mean=557.9us, total=6.1ms, count=11, min=0.4ms, max=0.7ms
+  policy_setup: mean=15.1us, total=0.1ms, count=8, 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]
+05/11 20:17:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:17:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:17:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:17:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:17:27 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]
+05/11 20:17:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:17:27 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]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110635m	[env.py: 870]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:17:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:17:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66167714 -0.94149773 -0.1106351 ] yaw=-71.3deg	[env.py: 1019]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17722493 -1.05456693 -0.1106351 ] yaw=-31.1deg	[env.py: 1019]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:17:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=315.7ms, total=315.8ms	[env.py: 1075]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.662, -0.941, -0.111)	[env.py: 1079]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.3 deg	[env.py: 1082]
+05/11 20:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/11 20:17:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:17:27 INFO: [Worker 0] Worker 0 house 1 episode 83/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:17:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:17:27 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]
+05/11 20:17:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:17:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:17:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:17:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:17:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.27s (batch: 3.26s, save: 10.01s)	[pipeline.py: 300]
+05/11 20:17:31 INFO: [Worker 0] [PROFILE] Episode 88 house 1 success=True episode_total=6.32s:
+  episode_total: mean=22.62s, total=588.06s, count=26, min=227.3ms, max=181714.8ms
+  sensor_polling: mean=458.0ms, total=321.54s, count=702, min=301.3ms, max=836.3ms
+  physics_step: mean=27.2ms, total=19.11s, count=702, min=14.6ms, max=102.4ms
+  task_specific_sample: mean=414.9ms, total=10.79s, count=26, min=223.0ms, max=695.1ms
+  save_trajectories: mean=10.01s, total=10.01s, count=1, min=10007.8ms, max=10007.8ms
+  task_sampling: mean=526.6ms, total=6.32s, count=12, min=440.5ms, max=697.8ms
+  task_sampling_failed: mean=326.7ms, total=4.57s, count=14, min=227.3ms, max=555.6ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3258.6ms, max=3258.6ms
+  scene_randomize: mean=1.3ms, total=32.9ms, count=26, min=0.9ms, max=3.5ms
+  mj_forward_sync: mean=523.8us, total=13.6ms, count=26, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.3us, total=0.2ms, count=12, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=26, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:17:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:17:31 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.708[m] 96.293[deg]	[grasp_sample.py: 539]
+05/11 20:17:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:17:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:17:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:17:33 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]
+05/11 20:17:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:17:33 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]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134708m	[env.py: 870]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:17:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:33 ERROR: [Worker 0] Worker 0 house 1 episode 83 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33349098 -0.901793   -0.13470814] yaw=-52.9deg	[env.py: 1019]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:17:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=219.8ms, total=219.9ms	[env.py: 1075]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -0.902, -0.135)	[env.py: 1079]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.9 deg	[env.py: 1082]
+05/11 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/11 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:17:33 INFO: [Worker 0] Worker 0 house 1 episode 89/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:17:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:17:33 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]
+05/11 20:17:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:17:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:17:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:17:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:17:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:17:34 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]
+05/11 20:17:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:17:34 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]
+05/11 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172205m	[env.py: 870]
+05/11 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:17:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=375.1ms, total=375.2ms	[env.py: 1105]
+05/11 20:17:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:17:35 ERROR: [Worker 0] Worker 0 house 1 episode 84 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:17:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.081s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:17:35 ERROR: [Worker 0] Worker 0 house 1 episode 89 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:17:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:17:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:17:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:17:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:17:36 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]
+05/11 20:17:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:17:36 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]
+05/11 20:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170463m	[env.py: 870]
+05/11 20:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:17:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.7ms, total=217.7ms	[env.py: 1105]
+05/11 20:17:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:17:37 ERROR: [Worker 0] Worker 0 house 1 episode 85 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:17:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:17:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:17:37 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]
+05/11 20:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:17:37 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]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132970m	[env.py: 870]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37284667 -1.11283798 -0.13297012] yaw=-42.3deg	[env.py: 1019]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1725332  -0.99451338 -0.13297012] yaw=-52.0deg	[env.py: 1019]
+05/11 20:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:17:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=752.6ms, total=752.7ms	[env.py: 1075]
+05/11 20:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.373, -1.113, -0.133)	[env.py: 1079]
+05/11 20:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg	[env.py: 1082]
+05/11 20:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/11 20:17:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:17:38 INFO: [Worker 0] Worker 0 house 1 episode 90/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:17:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:17:38 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]
+05/11 20:17:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:17:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:17:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:17:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:17:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:17:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:17:39 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]
+05/11 20:17:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:17:39 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]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107558m	[env.py: 870]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:17:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28711708 -0.9862136  -0.1075581 ] yaw=-42.3deg	[env.py: 1019]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:17:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=403.3ms, total=403.4ms	[env.py: 1075]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -0.986, -0.108)	[env.py: 1079]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg	[env.py: 1082]
+05/11 20:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/11 20:17:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:17:40 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:17:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:17:40 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]
+05/11 20:17:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:17:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:17:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.024s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:17:40 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.690[m] 87.630[deg]	[grasp_sample.py: 539]
+05/11 20:17:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:17:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:17:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:17:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:17:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.539s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:17:49 INFO: [Worker 0] Feasible grasp found 332 (originally 332): w/ 0.786[m] 81.481[deg]	[grasp_sample.py: 539]
+05/11 20:17:49 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:17:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:17:49 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/11 20:17:51 ERROR: [Worker 0] Worker 0 house 1 episode 86 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:17:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:17:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:17:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:17:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:17:52 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]
+05/11 20:17:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:17:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171469m	[env.py: 870]
+05/11 20:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:17:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=312.3ms, total=312.3ms	[env.py: 1105]
+05/11 20:17:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:17:53 ERROR: [Worker 0] Worker 0 house 1 episode 87 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:17:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:17:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:17:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:17:54 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]
+05/11 20:17:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:17:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138519m	[env.py: 870]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:17:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29365548 -1.21561134 -0.13851891] yaw=-47.3deg	[env.py: 1019]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:17:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=284.9ms, total=285.0ms	[env.py: 1075]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -1.216, -0.139)	[env.py: 1079]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg	[env.py: 1082]
+05/11 20:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/11 20:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:17:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:17:55 INFO: [Worker 0] Worker 0 house 1 episode 88/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:17:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:17:55 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]
+05/11 20:17:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:17:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:17:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.224s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:17:57 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.671[m] 83.821[deg]	[grasp_sample.py: 539]
+05/11 20:17:59 ERROR: [Worker 0] Worker 0 house 1 episode 88 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:18:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:18:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:18:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:18:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:18:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:18:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119323m	[env.py: 870]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:18:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.22068166 -0.93881703 -0.11932289] yaw=-57.0deg	[env.py: 1019]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.61995092 -0.99299957 -0.11932289] yaw=-59.7deg	[env.py: 1019]
+05/11 20:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:18:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=331.0ms, total=331.0ms	[env.py: 1075]
+05/11 20:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -0.939, -0.119)	[env.py: 1079]
+05/11 20:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg	[env.py: 1082]
+05/11 20:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/11 20:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:18:01 INFO: [Worker 0] Worker 0 house 1 episode 89/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:18:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:18:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:18:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:18:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:18:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.266s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:18:03 ERROR: [Worker 0] Worker 0 house 1 episode 89 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:18:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:18:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:18:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.46s (batch: 3.57s, save: 11.88s)	[pipeline.py: 300]
+05/11 20:18:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:18:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:18:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:18:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:18:05 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]
+05/11 20:18:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:18:05 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]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190438m	[env.py: 870]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:18:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38928434 -1.12524067 -0.19043829] yaw=-54.0deg	[env.py: 1019]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:18:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=449.8ms, total=449.9ms	[env.py: 1075]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.389, -1.125, -0.190)	[env.py: 1079]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg	[env.py: 1082]
+05/11 20:18:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/11 20:18:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:05 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=1.68s:
+  episode_total: mean=48.12s, total=192.47s, count=4, min=509.1ms, max=178552.9ms
+  sensor_polling: mean=428.7ms, total=117.89s, count=275, min=308.9ms, max=773.8ms
+  save_trajectories: mean=11.88s, total=11.88s, count=1, min=11881.1ms, max=11881.1ms
+  physics_step: mean=26.8ms, total=7.37s, count=275, min=19.8ms, max=60.2ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3573.9ms, max=3573.9ms
+  task_specific_sample: mean=539.9ms, total=2.16s, count=4, min=492.9ms, max=616.4ms
+  task_sampling: mean=558.6ms, total=1.68s, count=3, min=509.8ms, max=619.3ms
+  task_sampling_failed: mean=509.1ms, total=509.1ms, count=1, min=509.1ms, max=509.1ms
+  scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.0ms, max=2.3ms
+  mj_forward_sync: mean=496.3us, total=2.0ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:18:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:18:06 INFO: [Worker 0] Worker 0 house 1 episode 90/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:18:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:18:06 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]
+05/11 20:18:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:18:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.189s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:18:06 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:18:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:18:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:18:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:18:07 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]
+05/11 20:18:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:18:07 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]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136912m	[env.py: 870]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:18:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37697266 -1.09469973 -0.13691188] yaw=-46.6deg	[env.py: 1019]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43567406 -0.77020755 -0.13691188] yaw=-63.7deg	[env.py: 1019]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46823053 -0.96725288 -0.13691188] yaw=-52.0deg	[env.py: 1019]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:18:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.3ms, total=219.4ms	[env.py: 1075]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -1.095, -0.137)	[env.py: 1079]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg	[env.py: 1082]
+05/11 20:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/11 20:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:18:07 INFO: [Worker 0] Worker 0 house 1 episode 64/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:18:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:18:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:18:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:18:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:18:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.400s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:18:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.675[m] 71.220[deg]	[grasp_sample.py: 539]
+05/11 20:18:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:18:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:18:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:18:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:18:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:18:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.564[m] 89.728[deg]	[grasp_sample.py: 539]
+05/11 20:18:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:18:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:18:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:18:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:18:39 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:18:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:18:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:18:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:18:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:18:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:18:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 17.31s (batch: 4.62s, save: 12.70s)	[pipeline.py: 300]
+05/11 20:18:57 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=1.26s:
+  episode_total: mean=115.84s, total=231.68s, count=2, min=2786.8ms, max=228890.5ms
+  sensor_polling: mean=446.3ms, total=133.88s, count=300, min=310.4ms, max=738.4ms
+  save_trajectories: mean=12.70s, total=12.70s, count=1, min=12695.4ms, max=12695.4ms
+  physics_step: mean=28.4ms, total=8.52s, count=300, min=19.9ms, max=154.5ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4618.7ms, max=4618.7ms
+  task_sampling: mean=629.0ms, total=1.26s, count=2, min=550.8ms, max=707.2ms
+  task_specific_sample: mean=625.1ms, total=1.25s, count=2, min=546.7ms, max=703.6ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.8ms
+  mj_forward_sync: mean=582.6us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=14.2us, 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]
+05/11 20:18:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:18:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:18:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:18:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:18:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:18:58 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]
+05/11 20:18:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:18:58 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]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192784m	[env.py: 870]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:18:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14013742 -1.08059787 -0.19278398] yaw=-35.0deg	[env.py: 1019]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33690677 -1.11344175 -0.19278398] yaw=-48.3deg	[env.py: 1019]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:18:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=214.5ms, total=214.5ms	[env.py: 1075]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.140, -1.081, -0.193)	[env.py: 1079]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.0 deg	[env.py: 1082]
+05/11 20:18:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/11 20:18:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:18:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:18:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:18:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:18:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:18:59 INFO: [Worker 0] Worker 0 house 1 episode 60/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:18:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:18:59 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]
+05/11 20:18:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:18:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:19:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.753s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:19:01 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:19:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:19:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:19:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:19:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:19:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:19:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:19:02 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]
+05/11 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172279m	[env.py: 870]
+05/11 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:19:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13589691 -1.08382652 -0.1722794 ] yaw=-49.1deg	[env.py: 1019]
+05/11 20:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:19:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=264.7ms, total=264.8ms	[env.py: 1075]
+05/11 20:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.136, -1.084, -0.172)	[env.py: 1079]
+05/11 20:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg	[env.py: 1082]
+05/11 20:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/11 20:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:19:03 INFO: [Worker 0] Worker 0 house 1 episode 61/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:19:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:19:03 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]
+05/11 20:19:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:19:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:19:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.734s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:19:05 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:19:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:19:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:19:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:19:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:19:06 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]
+05/11 20:19:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:19:06 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]
+05/11 20:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169002m	[env.py: 870]
+05/11 20:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:19:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.19398973 -1.06818384 -0.16900201] yaw=-50.5deg	[env.py: 1019]
+05/11 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:19:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=369.7ms, total=369.8ms	[env.py: 1075]
+05/11 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.194, -1.068, -0.169)	[env.py: 1079]
+05/11 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg	[env.py: 1082]
+05/11 20:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/11 20:19:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:19:07 INFO: [Worker 0] Worker 0 house 1 episode 62/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:19:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:19:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:19:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:19:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:19:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:19:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:19:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:19:27 INFO: [Worker 0] Feasible grasp found 219 (originally 219): w/ 0.734[m] 97.285[deg]	[grasp_sample.py: 539]
+05/11 20:19:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:28 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:19:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:19:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:19:30 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]
+05/11 20:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:19:30 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]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122303m	[env.py: 870]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=335.6ms, total=335.6ms	[env.py: 1105]
+05/11 20:19:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:19:30 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]
+05/11 20:19:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:19:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:19:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:19:32 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]
+05/11 20:19:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:19:32 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]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144507m	[env.py: 870]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:19:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32895601 -1.17656628 -0.14450692] yaw=-37.6deg	[env.py: 1019]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33831909 -1.14791803 -0.14450692] yaw=-52.0deg	[env.py: 1019]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:19:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=354.8ms, total=354.9ms	[env.py: 1075]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.177, -0.145)	[env.py: 1079]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg	[env.py: 1082]
+05/11 20:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/11 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:19:32 INFO: [Worker 0] Worker 0 house 1 episode 64/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:19:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:19:32 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]
+05/11 20:19:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:19:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:19:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.993s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:19:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.610[m] 82.297[deg]	[grasp_sample.py: 539]
+05/11 20:19:36 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:19:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:19:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:19:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:19:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:19:37 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]
+05/11 20:19:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:19:37 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]
+05/11 20:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128643m	[env.py: 870]
+05/11 20:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:19:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09305111 -1.04142881 -0.12864251] yaw=-44.8deg	[env.py: 1019]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37803547 -1.090626   -0.12864251] yaw=-49.5deg	[env.py: 1019]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2646067  -1.2170981  -0.12864251] yaw=-27.8deg	[env.py: 1019]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:19:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=307.2ms, total=307.2ms	[env.py: 1075]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.093, -1.041, -0.129)	[env.py: 1079]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg	[env.py: 1082]
+05/11 20:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/11 20:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:19:38 INFO: [Worker 0] Worker 0 house 1 episode 65/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:19:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:19:38 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]
+05/11 20:19:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:19:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:19:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.902s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:19:40 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:19:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:19:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:19:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:19:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:19:42 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]
+05/11 20:19:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:19:42 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]
+05/11 20:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138887m	[env.py: 870]
+05/11 20:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:19:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=235.0ms, total=235.1ms	[env.py: 1105]
+05/11 20:19:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:19:42 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]
+05/11 20:19:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:19:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:19:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:19:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:19:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:19:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198687m	[env.py: 870]
+05/11 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:19:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38194335 -1.16314655 -0.1986875 ] yaw=-41.0deg	[env.py: 1019]
+05/11 20:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5026184  -0.74352895 -0.1986875 ] yaw=-65.1deg	[env.py: 1019]
+05/11 20:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:19:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=432.5ms, total=432.5ms	[env.py: 1075]
+05/11 20:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.382, -1.163, -0.199)	[env.py: 1079]
+05/11 20:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.0 deg	[env.py: 1082]
+05/11 20:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/11 20:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:19:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:19:44 INFO: [Worker 0] Worker 0 house 1 episode 67/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:19:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:19:44 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]
+05/11 20:19:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:19:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:19:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.769s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:19:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.608[m] 87.248[deg]	[grasp_sample.py: 539]
+05/11 20:19:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:19:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:19:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:19:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:20:00 INFO: [Worker 0] Worker 0 house 1 episode 90 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:20:24 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:20:24 INFO: [Worker 0] Worker 0 house 1 episode 90 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:20:27 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:20:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:20:27 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/11 20:20:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:20:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:20:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.11s (batch: 3.60s, save: 10.51s)	[pipeline.py: 300]
+05/11 20:20:42 INFO: [Worker 0] [PROFILE] Episode 90 house 1 success=True episode_total=1.62s:
+  episode_total: mean=93.74s, total=187.49s, count=2, min=2760.7ms, max=184728.8ms
+  sensor_polling: mean=470.8ms, total=128.54s, count=273, min=299.7ms, max=691.9ms
+  save_trajectories: mean=10.51s, total=10.51s, count=1, min=10507.8ms, max=10507.8ms
+  physics_step: mean=30.6ms, total=8.35s, count=273, min=14.7ms, max=105.3ms
+  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3602.8ms, max=3602.8ms
+  task_sampling: mean=810.3ms, total=1.62s, count=2, min=468.8ms, max=1151.8ms
+  task_specific_sample: mean=806.7ms, total=1.61s, count=2, min=464.6ms, max=1148.8ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=0.9ms, max=2.7ms
+  mj_forward_sync: mean=597.3us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:20:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:20:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:20:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:20:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:20:43 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]
+05/11 20:20:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:20:43 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]
+05/11 20:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132982m	[env.py: 870]
+05/11 20:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:20:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.8ms, total=205.9ms	[env.py: 1105]
+05/11 20:20:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:20:43 ERROR: [Worker 0] Worker 0 house 1 episode 91 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:20:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:20:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:20:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:20:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:20:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:20:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:20:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:20:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:20:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:20:45 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]
+05/11 20:20:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:20:45 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]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182067m	[env.py: 870]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:20:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18585983 -0.99457581 -0.18206692] yaw=-47.1deg	[env.py: 1019]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:20:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=388.7ms, total=388.8ms	[env.py: 1075]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.186, -0.995, -0.182)	[env.py: 1079]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg	[env.py: 1082]
+05/11 20:20:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/11 20:20:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:20:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:20:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:20:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:20:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:20:46 INFO: [Worker 0] Worker 0 house 1 episode 92/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:20:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:20:46 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]
+05/11 20:20:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:20:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:20:48 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:20:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:20:48 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/11 20:20:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.795s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:20:48 ERROR: [Worker 0] Worker 0 house 1 episode 92 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:20:48 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:20:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:20:48 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/11 20:20:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:20:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:20:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:20:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:20:49 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]
+05/11 20:20:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:20:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198783m	[env.py: 870]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:20:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39353962 -1.02859994 -0.19878328] yaw=-50.7deg	[env.py: 1019]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:20:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.4ms, total=186.4ms	[env.py: 1075]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -1.029, -0.199)	[env.py: 1079]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg	[env.py: 1082]
+05/11 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/11 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:20:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:20:50 INFO: [Worker 0] Worker 0 house 1 episode 93/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:20:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:20:50 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]
+05/11 20:20:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:20:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:20:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.695s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:20:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.628[m] 86.609[deg]	[grasp_sample.py: 539]
+05/11 20:20:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:20:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:20:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:20:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:20:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:20:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:21:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:21:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:21:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.60s (batch: 3.73s, save: 8.87s)	[pipeline.py: 300]
+05/11 20:21:01 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.55s:
+  episode_total: mean=173.99s, total=173.99s, count=1, min=173989.9ms, max=173989.9ms
+  sensor_polling: mean=452.7ms, total=122.22s, count=270, min=300.7ms, max=839.1ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8866.1ms, max=8866.1ms
+  physics_step: mean=28.1ms, total=7.60s, count=270, min=19.8ms, max=62.1ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3734.4ms, max=3734.4ms
+  task_sampling: mean=551.5ms, total=551.5ms, count=1, min=551.5ms, max=551.5ms
+  task_specific_sample: mean=546.6ms, total=546.6ms, count=1, min=546.6ms, max=546.6ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=592.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:21:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:21:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:21:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.56s (batch: 3.96s, save: 9.60s)	[pipeline.py: 300]
+05/11 20:21:02 INFO: [Worker 0] [PROFILE] Episode 90 house 1 success=True episode_total=3.25s:
+  episode_total: mean=25.47s, total=203.76s, count=8, min=228.2ms, max=176994.4ms
+  sensor_polling: mean=480.1ms, total=120.03s, count=250, min=344.0ms, max=697.5ms
+  save_trajectories: mean=9.60s, total=9.60s, count=1, min=9600.0ms, max=9600.0ms
+  physics_step: mean=31.0ms, total=7.75s, count=250, min=20.0ms, max=100.8ms
+  task_specific_sample: mean=517.1ms, total=4.14s, count=8, min=224.7ms, max=743.2ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3956.9ms, max=3956.9ms
+  task_sampling: mean=649.2ms, total=3.25s, count=5, min=512.9ms, max=745.9ms
+  task_sampling_failed: mean=316.4ms, total=949.2ms, count=3, min=228.2ms, max=398.4ms
+  mj_forward_sync: mean=1.9ms, total=15.2ms, count=8, min=0.4ms, max=11.3ms
+  scene_randomize: mean=1.4ms, total=11.5ms, count=8, min=0.9ms, max=3.2ms
+  policy_setup: mean=13.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:21:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:21:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:21:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:21:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:21:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:21:02 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]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128669m	[env.py: 870]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:21:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57157444 -0.85026521 -0.12866908] yaw=-65.0deg	[env.py: 1019]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53237967 -0.92079178 -0.12866908] yaw=-55.4deg	[env.py: 1019]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:21:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.5ms	[env.py: 1075]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.850, -0.129)	[env.py: 1079]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg	[env.py: 1082]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/11 20:21:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:21:03 INFO: [Worker 0] Worker 0 house 1 episode 65/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:21:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:21:03 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]
+05/11 20:21:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:21:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:21:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:21:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:21:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:21:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:21:03 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]
+05/11 20:21:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:21:03 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]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180713m	[env.py: 870]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:21:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50485707 -0.78785216 -0.18071281] yaw=-67.0deg	[env.py: 1019]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:21:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=235.6ms, total=235.7ms	[env.py: 1075]
+05/11 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.505, -0.788, -0.181)	[env.py: 1079]
+05/11 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.0 deg	[env.py: 1082]
+05/11 20:21:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/11 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:21:04 INFO: [Worker 0] Worker 0 house 1 episode 91/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:21:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:21:04 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]
+05/11 20:21:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:21:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:21:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:21:08 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.767[m] 99.034[deg]	[grasp_sample.py: 539]
+05/11 20:21:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:21:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:21:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:21:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:21:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:21:10 ERROR: [Worker 0] Worker 0 house 1 episode 91 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 20:21:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:21:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:21:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:21:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:21:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:21:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155208m	[env.py: 870]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:21:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30399545 -1.16533046 -0.15520836] yaw=-45.7deg	[env.py: 1019]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51863521 -1.04855397 -0.15520836] yaw=-50.9deg	[env.py: 1019]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:21:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=259.1ms, total=259.2ms	[env.py: 1075]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.165, -0.155)	[env.py: 1079]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg	[env.py: 1082]
+05/11 20:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/11 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:21:12 INFO: [Worker 0] Worker 0 house 1 episode 92/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:21:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:21:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:21:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:21:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:21:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.822s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:21:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.672[m] 83.327[deg]	[grasp_sample.py: 539]
+05/11 20:21:15 ERROR: [Worker 0] Worker 0 house 1 episode 92 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:21:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:21:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:21:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:21:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:21:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:21:17 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]
+05/11 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196509m	[env.py: 870]
+05/11 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:21:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=317.6ms, total=317.7ms	[env.py: 1105]
+05/11 20:21:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:21:17 ERROR: [Worker 0] Worker 0 house 1 episode 93 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:21:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:21:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:21:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:21:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:21:19 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]
+05/11 20:21:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:21:19 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]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165979m	[env.py: 870]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:21:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26944741 -1.08892955 -0.16597926] yaw=-52.8deg	[env.py: 1019]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:21:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=263.2ms, total=263.2ms	[env.py: 1075]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -1.089, -0.166)	[env.py: 1079]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg	[env.py: 1082]
+05/11 20:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/11 20:21:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:21:19 INFO: [Worker 0] Worker 0 house 1 episode 94/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:21:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:21:19 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]
+05/11 20:21:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:21:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:21:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.026s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:21:22 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.742[m] 97.152[deg]	[grasp_sample.py: 539]
+05/11 20:21:23 ERROR: [Worker 0] Worker 0 house 1 episode 94 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:21:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:21:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:21:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:21:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:21:24 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]
+05/11 20:21:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:21:24 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]
+05/11 20:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108010m	[env.py: 870]
+05/11 20:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:21:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42010135 -0.98303393 -0.10800974] yaw=-46.1deg	[env.py: 1019]
+05/11 20:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31989229 -1.07805416 -0.10800974] yaw=-48.6deg	[env.py: 1019]
+05/11 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:21:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=308.8ms, total=308.9ms	[env.py: 1075]
+05/11 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.983, -0.108)	[env.py: 1079]
+05/11 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg	[env.py: 1082]
+05/11 20:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/11 20:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:21:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:21:25 INFO: [Worker 0] Worker 0 house 1 episode 95/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:21:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:21:25 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]
+05/11 20:21:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:21:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:21:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.590s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:21:28 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.785[m] 86.217[deg]	[grasp_sample.py: 539]
+05/11 20:21:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:21:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:21:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:21:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:21:51 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:21:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:22:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:19 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:22:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:22:19 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/11 20:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:22:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:22:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.46s (batch: 4.10s, save: 10.36s)	[pipeline.py: 300]
+05/11 20:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:34 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=3.61s:
+  episode_total: mean=25.64s, total=205.10s, count=8, min=245.3ms, max=170774.0ms
+  sensor_polling: mean=450.1ms, total=115.68s, count=257, min=313.8ms, max=682.4ms
+  save_trajectories: mean=10.36s, total=10.36s, count=1, min=10360.1ms, max=10360.1ms
+  physics_step: mean=28.6ms, total=7.35s, count=257, min=19.7ms, max=85.5ms
+  task_specific_sample: mean=522.5ms, total=4.18s, count=8, min=242.2ms, max=824.3ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.3ms, max=4096.3ms
+  task_sampling: mean=602.5ms, total=3.61s, count=6, min=498.2ms, max=827.3ms
+  task_sampling_failed: mean=302.1ms, total=604.3ms, count=2, min=245.3ms, max=358.9ms
+  scene_randomize: mean=1.6ms, total=12.5ms, count=8, min=1.0ms, max=3.2ms
+  mj_forward_sync: mean=538.4us, total=4.3ms, count=8, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.4us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:22:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:22:35 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]
+05/11 20:22:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:22:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 428 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:22:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:22:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:22:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:22:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:22:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:22:36 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]
+05/11 20:22:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:22:36 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]
+05/11 20:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158386m	[env.py: 870]
+05/11 20:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:22:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:22:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.695s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:22:36 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.076[m] 30.417[deg]	[grasp_sample.py: 539]
+05/11 20:22:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.5ms, total=212.6ms	[env.py: 1105]
+05/11 20:22:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:22:36 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]
+05/11 20:22:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:22:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:22:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:22:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:22:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:22:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:22:37 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]
+05/11 20:22:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:22:37 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]
+05/11 20:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177895m	[env.py: 870]
+05/11 20:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:22:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2951287  -1.22691237 -0.17789462] yaw=-45.4deg	[env.py: 1019]
+05/11 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=263.0ms, total=263.0ms	[env.py: 1075]
+05/11 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -1.227, -0.178)	[env.py: 1079]
+05/11 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg	[env.py: 1082]
+05/11 20:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/11 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:22:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:22:38 INFO: [Worker 0] Worker 0 house 1 episode 69/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:22:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.181s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:22:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:22:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:22:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.166s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:22:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:22:43 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]
+05/11 20:22:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:22:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:22:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.145s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:22:44 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.656[m] 85.268[deg]	[grasp_sample.py: 539]
+05/11 20:22:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.612s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:22:44 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.121[m] 16.632[deg]	[grasp_sample.py: 539]
+05/11 20:22:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:22:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:22:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:22:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:22:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:22:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:22:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:23:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:23:06 INFO: [Worker 0] Worker 0 house 1 episode 93 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:23:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:23:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:23:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:23:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:23:32 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:23:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:23:32 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/11 20:23:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:23:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:23:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.89s (batch: 3.38s, save: 9.51s)	[pipeline.py: 300]
+05/11 20:23:45 INFO: [Worker 0] [PROFILE] Episode 93 house 1 success=True episode_total=1.18s:
+  episode_total: mean=59.63s, total=178.88s, count=3, min=217.4ms, max=175952.7ms
+  sensor_polling: mean=463.0ms, total=121.31s, count=262, min=332.7ms, max=832.4ms
+  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9510.9ms, max=9510.9ms
+  physics_step: mean=29.2ms, total=7.65s, count=262, min=19.9ms, max=102.3ms
+  save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3375.8ms, max=3375.8ms
+  task_specific_sample: mean=461.2ms, total=1.38s, count=3, min=211.5ms, max=704.2ms
+  task_sampling: mean=588.7ms, total=1.18s, count=2, min=470.0ms, max=707.4ms
+  task_sampling_failed: mean=217.4ms, total=217.4ms, count=1, min=217.4ms, max=217.4ms
+  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=0.9ms, max=2.6ms
+  mj_forward_sync: mean=453.1us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  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=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:23:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:23:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:23:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:23:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:23:47 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]
+05/11 20:23:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:23:47 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]
+05/11 20:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119117m	[env.py: 870]
+05/11 20:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:23:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=224.6ms, total=224.6ms	[env.py: 1105]
+05/11 20:23:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:23:47 ERROR: [Worker 0] Worker 0 house 1 episode 94 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:23:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:23:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:23:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:23:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:23:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:23:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:23:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:23:49 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]
+05/11 20:23:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:23:49 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]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120260m	[env.py: 870]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:23:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46510754 -0.75421846 -0.12025995] yaw=-68.6deg	[env.py: 1019]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.12301624 -1.062725   -0.12025995] yaw=-45.4deg	[env.py: 1019]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:23:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=379.5ms, total=379.6ms	[env.py: 1075]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.754, -0.120)	[env.py: 1079]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.6 deg	[env.py: 1082]
+05/11 20:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/11 20:23:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:23:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:23:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:23:49 INFO: [Worker 0] Worker 0 house 1 episode 95/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:23:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:23:49 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]
+05/11 20:23:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:23:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:23:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.772s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:23:51 ERROR: [Worker 0] Worker 0 house 1 episode 95 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:23:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:23:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:23:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:23:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:23:53 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]
+05/11 20:23:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:23:53 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]
+05/11 20:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150967m	[env.py: 870]
+05/11 20:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:23:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=314.4ms, total=314.5ms	[env.py: 1105]
+05/11 20:23:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:23:53 ERROR: [Worker 0] Worker 0 house 1 episode 96 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:23:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:23:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:23:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:23:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:23:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:23:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:23:55 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]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184784m	[env.py: 870]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:23:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57269026 -0.84687965 -0.18478449] yaw=-76.0deg	[env.py: 1019]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:23:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=351.0ms, total=351.1ms	[env.py: 1075]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.573, -0.847, -0.185)	[env.py: 1079]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.0 deg	[env.py: 1082]
+05/11 20:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/11 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:23:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:23:55 INFO: [Worker 0] Worker 0 house 1 episode 97/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:23:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:23:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:23:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:23:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:23:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:23:57 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.717[m] 100.715[deg]	[grasp_sample.py: 539]
+05/11 20:23:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:23:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:23:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:23:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:24:01 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:24:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:24:06 INFO: [Worker 0] Worker 0 house 1 episode 95 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:24:28 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:24:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:24:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:24:35 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:24:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:24:35 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/11 20:24:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:24:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:24:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.76s (batch: 3.74s, save: 12.03s)	[pipeline.py: 300]
+05/11 20:24:44 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.59s:
+  episode_total: mean=221.92s, total=221.92s, count=1, min=221921.1ms, max=221921.1ms
+  sensor_polling: mean=456.7ms, total=137.01s, count=300, min=313.5ms, max=755.0ms
+  save_trajectories: mean=12.03s, total=12.03s, count=1, min=12026.0ms, max=12026.0ms
+  physics_step: mean=28.3ms, total=8.50s, count=300, min=19.9ms, max=84.0ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3738.8ms, max=3738.8ms
+  task_sampling: mean=586.7ms, total=586.7ms, count=1, min=586.7ms, max=586.7ms
+  task_specific_sample: mean=583.2ms, total=583.2ms, count=1, min=583.2ms, max=583.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=376.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:24:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:24:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:24:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:24:46 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]
+05/11 20:24:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:24:46 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]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152468m	[env.py: 870]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:24:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21183178 -1.04333825 -0.15246788] yaw=-40.7deg	[env.py: 1019]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:24:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=264.3ms, total=264.4ms	[env.py: 1075]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -1.043, -0.152)	[env.py: 1079]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg	[env.py: 1082]
+05/11 20:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/11 20:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:24:46 INFO: [Worker 0] Worker 0 house 1 episode 66/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:24:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:24:46 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]
+05/11 20:24:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:24:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:24:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:24:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:24:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.84s (batch: 4.20s, save: 11.65s)	[pipeline.py: 300]
+05/11 20:24:52 INFO: [Worker 0] [PROFILE] Episode 95 house 1 success=True episode_total=2.18s:
+  episode_total: mean=44.48s, total=222.40s, count=5, min=328.4ms, max=207583.7ms
+  sensor_polling: mean=449.2ms, total=132.96s, count=296, min=325.5ms, max=752.5ms
+  save_trajectories: mean=11.65s, total=11.65s, count=1, min=11646.8ms, max=11646.8ms
+  physics_step: mean=28.6ms, total=8.46s, count=296, min=20.1ms, max=65.7ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4197.3ms, max=4197.3ms
+  task_specific_sample: mean=499.4ms, total=2.50s, count=5, min=324.9ms, max=591.2ms
+  task_sampling: mean=546.2ms, total=2.18s, count=4, min=501.1ms, max=594.0ms
+  task_sampling_failed: mean=328.3ms, total=328.3ms, count=1, min=328.3ms, max=328.3ms
+  scene_randomize: mean=1.5ms, total=7.3ms, count=5, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=547.2us, total=2.7ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:24:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.237s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:24:53 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.766[m] 88.349[deg]	[grasp_sample.py: 539]
+05/11 20:24:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:24:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:24:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:24:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:24:53 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]
+05/11 20:24:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:24:53 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]
+05/11 20:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100771m	[env.py: 870]
+05/11 20:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:24:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.4ms, total=216.4ms	[env.py: 1105]
+05/11 20:24:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:24:54 ERROR: [Worker 0] Worker 0 house 1 episode 96 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:24:54 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:24:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:24:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:24:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:24:55 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]
+05/11 20:24:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:24:55 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]
+05/11 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179274m	[env.py: 870]
+05/11 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:24:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=192.5ms, total=192.5ms	[env.py: 1105]
+05/11 20:24:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:24:55 ERROR: [Worker 0] Worker 0 house 1 episode 97 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:24:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:24:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:24:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:24:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:24:56 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]
+05/11 20:24:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:24:56 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]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178684m	[env.py: 870]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:24:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53829608 -0.77653778 -0.17868405] yaw=-69.9deg	[env.py: 1019]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:24:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.1ms, total=224.2ms	[env.py: 1075]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -0.777, -0.179)	[env.py: 1079]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.9 deg	[env.py: 1082]
+05/11 20:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/11 20:24:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:24:56 INFO: [Worker 0] Worker 0 house 1 episode 67/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:24:56 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:24:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:24:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:24:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:24:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:24:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:24:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:24:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:24:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:24:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:24:57 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]
+05/11 20:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130481m	[env.py: 870]
+05/11 20:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:24:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=196.2ms, total=196.3ms	[env.py: 1105]
+05/11 20:24:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:24:57 ERROR: [Worker 0] Worker 0 house 1 episode 98 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:24:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:24:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:24:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:24:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:24:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:24:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:24:59 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]
+05/11 20:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104716m	[env.py: 870]
+05/11 20:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:24:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:24:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=324.7ms, total=324.7ms	[env.py: 1105]
+05/11 20:24:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:24:59 ERROR: [Worker 0] Worker 0 house 1 episode 99 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:25:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:25:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:25:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:25:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:25:00 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]
+05/11 20:25:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:25:00 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]
+05/11 20:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130393m	[env.py: 870]
+05/11 20:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:25:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31241837 -1.21830897 -0.13039265] yaw=-42.5deg	[env.py: 1019]
+05/11 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:25:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=233.3ms, total=233.4ms	[env.py: 1075]
+05/11 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.218, -0.130)	[env.py: 1079]
+05/11 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg	[env.py: 1082]
+05/11 20:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/11 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:25:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:25:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:25:01 INFO: [Worker 0] Worker 0 house 1 episode 100/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:25:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:25:01 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]
+05/11 20:25:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:25:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:25:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:03 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.667[m] 80.323[deg]	[grasp_sample.py: 539]
+05/11 20:25:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:25:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:25:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:25:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.200s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:08 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 20:25:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:25:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:25:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:25:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:25:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:25:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:25:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:25:09 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]
+05/11 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115846m	[env.py: 870]
+05/11 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:25:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:25:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47869282 -1.0612669  -0.11584604] yaw=-60.0deg	[env.py: 1019]
+05/11 20:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:25:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=216.3ms, total=216.3ms	[env.py: 1075]
+05/11 20:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -1.061, -0.116)	[env.py: 1079]
+05/11 20:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg	[env.py: 1082]
+05/11 20:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/11 20:25:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:25:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:25:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:25:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:25:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:25:10 INFO: [Worker 0] Worker 0 house 1 episode 68/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:25:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:25:10 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]
+05/11 20:25:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:25:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:25:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:13 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.664[m] 75.812[deg]	[grasp_sample.py: 539]
+05/11 20:25:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:25:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:25:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:25:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:25:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:25:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:25:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.179s, found 474 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:25:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.639s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:17 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.077[m] 9.628[deg]	[grasp_sample.py: 539]
+05/11 20:25:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:25:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:25:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:23 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:25:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:25:23 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/11 20:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:25:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:25:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:25:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 508 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:25:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:33 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.062[m] 20.473[deg]	[grasp_sample.py: 539]
+05/11 20:25:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:25:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:25:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:25:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:25:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.55s (batch: 4.06s, save: 11.49s)	[pipeline.py: 300]
+05/11 20:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:39 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=0.57s:
+  episode_total: mean=90.91s, total=181.82s, count=2, min=223.7ms, max=181594.9ms
+  sensor_polling: mean=459.3ms, total=122.18s, count=266, min=325.7ms, max=768.5ms
+  save_trajectories: mean=11.49s, total=11.49s, count=1, min=11491.7ms, max=11491.7ms
+  physics_step: mean=28.6ms, total=7.61s, count=266, min=19.9ms, max=100.4ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4057.5ms, max=4057.5ms
+  task_specific_sample: mean=394.9ms, total=789.8ms, count=2, min=219.1ms, max=570.6ms
+  task_sampling: mean=573.6ms, total=573.6ms, count=1, min=573.6ms, max=573.6ms
+  task_sampling_failed: mean=223.6ms, total=223.6ms, count=1, min=223.6ms, max=223.6ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=525.5us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:25:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:25:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:25:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:25:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:25:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:25:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:25:40 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]
+05/11 20:25:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:25:40 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]
+05/11 20:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138259m	[env.py: 870]
+05/11 20:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:25:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38574487 -0.93484049 -0.13825881] yaw=-54.9deg	[env.py: 1019]
+05/11 20:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:25:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=220.0ms, total=220.0ms	[env.py: 1075]
+05/11 20:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -0.935, -0.138)	[env.py: 1079]
+05/11 20:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg	[env.py: 1082]
+05/11 20:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/11 20:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:25:41 INFO: [Worker 0] Worker 0 house 1 episode 70/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:25:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:25:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:25:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:25:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:25:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.360s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:45 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.762[m] 86.790[deg]	[grasp_sample.py: 539]
+05/11 20:25:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:25:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:25:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:25:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:25:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:25:48 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]
+05/11 20:25:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:25:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.166s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:25:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:25:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.407s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:25:53 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.527[m] 52.282[deg]	[grasp_sample.py: 539]
+05/11 20:25:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:25:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:25:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:25:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:25:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:26:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:26:08 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]
+05/11 20:26:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:26:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:26:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:26:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.066s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:26:13 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.527[m] 52.281[deg]	[grasp_sample.py: 539]
+05/11 20:26:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:26:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:26:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:26:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:26:28 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]
+05/11 20:26:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:26:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:26:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.459s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:26:33 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.527[m] 52.281[deg]	[grasp_sample.py: 539]
+05/11 20:26:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:26:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:26:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:48 INFO: [Worker 0] Worker 0 house 1 episode 97 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:26:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:26:48 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:26:48 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 20:26:48 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=False episode_total=1.42s:
+  episode_total: mean=39.87s, total=119.61s, count=3, min=8685.6ms, max=99058.8ms
+  sensor_polling: mean=435.8ms, total=33.56s, count=77, min=320.7ms, max=671.6ms
+  physics_step: mean=22.5ms, total=1.73s, count=77, min=13.2ms, max=42.9ms
+  task_sampling: mean=472.9ms, total=1.42s, count=3, min=445.1ms, max=520.5ms
+  task_specific_sample: mean=469.5ms, total=1.41s, count=3, min=442.2ms, max=517.4ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.3ms, max=2.1ms
+  mj_forward_sync: mean=528.8us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:26:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:26:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:26:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:26:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:26:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:26:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:26:50 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]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161734m	[env.py: 870]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:26:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19909883 -1.15669389 -0.16173382] yaw=-46.7deg	[env.py: 1019]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43414531 -1.06954048 -0.16173382] yaw=-53.2deg	[env.py: 1019]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47461099 -0.77301407 -0.16173382] yaw=-67.6deg	[env.py: 1019]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:26:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=323.4ms, total=323.4ms	[env.py: 1075]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.199, -1.157, -0.162)	[env.py: 1079]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.7 deg	[env.py: 1082]
+05/11 20:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/11 20:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:26:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:26:51 INFO: [Worker 0] Worker 0 house 1 episode 69/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:26:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:26:51 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]
+05/11 20:26:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:26:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:26:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.670s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:26:59 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.696[m] 74.017[deg]	[grasp_sample.py: 539]
+05/11 20:26:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:26:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:26:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:27:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:09 INFO: [Worker 0] Worker 0 house 1 episode 100 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:27:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:27:15 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:27:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:27:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:27:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:27:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:27:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.93s (batch: 3.88s, save: 12.05s)	[pipeline.py: 300]
+05/11 20:27:32 INFO: [Worker 0] [PROFILE] Episode 97 house 1 success=True episode_total=1.32s:
+  episode_total: mean=55.13s, total=220.50s, count=4, min=238.7ms, max=217193.7ms
+  sensor_polling: mean=465.3ms, total=139.60s, count=300, min=314.4ms, max=745.4ms
+  save_trajectories: mean=12.05s, total=12.05s, count=1, min=12054.7ms, max=12054.7ms
+  physics_step: mean=28.1ms, total=8.43s, count=300, min=19.9ms, max=51.3ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3877.5ms, max=3877.5ms
+  task_specific_sample: mean=467.6ms, total=1.87s, count=4, min=232.3ms, max=743.6ms
+  task_sampling: mean=661.6ms, total=1.32s, count=2, min=576.4ms, max=746.9ms
+  task_sampling_failed: mean=281.5ms, total=563.1ms, count=2, min=238.7ms, max=324.3ms
+  scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.3ms, max=3.1ms
+  mj_forward_sync: mean=612.3us, total=2.4ms, count=4, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:27:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:27:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:27:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:27:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:27:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:27:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:27:33 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]
+05/11 20:27:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:27:33 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]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187982m	[env.py: 870]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:27:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.25255711 -1.0189973  -0.1879816 ] yaw=-36.7deg	[env.py: 1019]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55479244 -1.01118061 -0.1879816 ] yaw=-65.0deg	[env.py: 1019]
+05/11 20:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40059015 -0.96072905 -0.1879816 ] yaw=-53.4deg	[env.py: 1019]
+05/11 20:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:27:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=216.3ms, total=216.4ms	[env.py: 1075]
+05/11 20:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.253, -1.019, -0.188)	[env.py: 1079]
+05/11 20:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.7 deg	[env.py: 1082]
+05/11 20:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/11 20:27:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:27:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:27:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:27:34 INFO: [Worker 0] Worker 0 house 1 episode 98/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:27:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:27:34 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]
+05/11 20:27:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:27:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:27:38 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:27:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:27:38 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/11 20:27:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.133s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:27:44 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.743[m] 93.065[deg]	[grasp_sample.py: 539]
+05/11 20:27:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:27:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:27:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:27:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:27:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:27:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:27:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.79s (batch: 3.88s, save: 10.92s)	[pipeline.py: 300]
+05/11 20:27:53 INFO: [Worker 0] [PROFILE] Episode 100 house 1 success=True episode_total=0.52s:
+  episode_total: mean=34.72s, total=173.61s, count=5, min=201.3ms, max=172631.7ms
+  sensor_polling: mean=431.6ms, total=116.09s, count=269, min=280.4ms, max=701.7ms
+  save_trajectories: mean=10.92s, total=10.92s, count=1, min=10915.8ms, max=10915.8ms
+  physics_step: mean=27.5ms, total=7.39s, count=269, min=15.2ms, max=59.5ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3878.6ms, max=3878.6ms
+  task_specific_sample: mean=294.9ms, total=1.47s, count=5, min=197.8ms, max=518.7ms
+  task_sampling_failed: mean=243.9ms, total=975.4ms, count=4, min=201.3ms, max=339.6ms
+  task_sampling: mean=520.9ms, total=520.9ms, count=1, min=520.9ms, max=520.9ms
+  scene_randomize: mean=1.5ms, total=7.5ms, count=5, min=1.0ms, max=2.7ms
+  mj_forward_sync: mean=506.6us, total=2.5ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:27:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:27:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:27:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:27:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:27:54 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]
+05/11 20:27:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:27:54 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]
+05/11 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154633m	[env.py: 870]
+05/11 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:27:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.15793283 -1.00843191 -0.15463294] yaw=-42.5deg	[env.py: 1019]
+05/11 20:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:27:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.7ms, total=190.7ms	[env.py: 1075]
+05/11 20:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.158, -1.008, -0.155)	[env.py: 1079]
+05/11 20:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg	[env.py: 1082]
+05/11 20:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/11 20:27:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:27:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:27:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:27:55 INFO: [Worker 0] Worker 0 house 1 episode 101/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:27:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:27:55 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]
+05/11 20:27:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:27:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:27:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.688s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:27:57 ERROR: [Worker 0] Worker 0 house 1 episode 101 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:27:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:27:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:27:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:27:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:27:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:27:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:27:58 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]
+05/11 20:27:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:27:58 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]
+05/11 20:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163138m	[env.py: 870]
+05/11 20:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:27:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:27:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.2ms, total=216.2ms	[env.py: 1105]
+05/11 20:27:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:27:58 ERROR: [Worker 0] Worker 0 house 1 episode 102 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:27:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:28:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:28:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:28:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:28:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:28:00 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]
+05/11 20:28:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:28:00 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]
+05/11 20:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169342m	[env.py: 870]
+05/11 20:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:28:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=287.0ms, total=287.0ms	[env.py: 1105]
+05/11 20:28:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:28:00 ERROR: [Worker 0] Worker 0 house 1 episode 103 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:28:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:28:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:28:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:28:02 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]
+05/11 20:28:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:28:02 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]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135577m	[env.py: 870]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:28:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55827161 -0.90420324 -0.13557657] yaw=-63.6deg	[env.py: 1019]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:28:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=500.6ms, total=500.7ms	[env.py: 1075]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.904, -0.136)	[env.py: 1079]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.6 deg	[env.py: 1082]
+05/11 20:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/11 20:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:28:02 INFO: [Worker 0] Worker 0 house 1 episode 104/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:28:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:28:02 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]
+05/11 20:28:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:28:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:28:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.249s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:28:04 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.704[m] 79.757[deg]	[grasp_sample.py: 539]
+05/11 20:28:06 ERROR: [Worker 0] Worker 0 house 1 episode 104 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:28:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:28:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:28:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:28:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:28:07 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]
+05/11 20:28:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:28:07 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]
+05/11 20:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115456m	[env.py: 870]
+05/11 20:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:28:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=363.9ms, total=364.0ms	[env.py: 1105]
+05/11 20:28:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:28:08 ERROR: [Worker 0] Worker 0 house 1 episode 105 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:28:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:28:08 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:28:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:28:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:28:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:28:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:28:09 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]
+05/11 20:28:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:28:09 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]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178692m	[env.py: 870]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:28:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57767208 -0.91525174 -0.17869243] yaw=-64.7deg	[env.py: 1019]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31286151 -1.05843434 -0.17869243] yaw=-35.5deg	[env.py: 1019]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:28:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=382.8ms, total=382.8ms	[env.py: 1075]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.915, -0.179)	[env.py: 1079]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg	[env.py: 1082]
+05/11 20:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/11 20:28:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:28:09 INFO: [Worker 0] Worker 0 house 1 episode 106/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:28:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:28:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:28:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:28:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:28:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:28:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.756s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:28:14 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.706[m] 89.721[deg]	[grasp_sample.py: 539]
+05/11 20:28:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:28:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:28:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:28:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:28:39 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:28:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:28:39 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/11 20:28:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:28:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:28:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.51s (batch: 4.61s, save: 10.90s)	[pipeline.py: 300]
+05/11 20:28:56 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=0.51s:
+  episode_total: mean=195.10s, total=195.10s, count=1, min=195101.7ms, max=195101.7ms
+  sensor_polling: mean=447.1ms, total=128.31s, count=287, min=313.7ms, max=757.5ms
+  save_trajectories: mean=10.90s, total=10.90s, count=1, min=10898.2ms, max=10898.2ms
+  physics_step: mean=28.1ms, total=8.06s, count=287, min=20.0ms, max=73.9ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4611.3ms, max=4611.3ms
+  task_sampling: mean=510.4ms, total=510.4ms, count=1, min=510.4ms, max=510.4ms
+  task_specific_sample: mean=506.9ms, total=506.9ms, count=1, min=506.9ms, max=506.9ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=560.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:28:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:28:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:28:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:28:57 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]
+05/11 20:28:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:28:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170717m	[env.py: 870]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:28:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61075514 -0.96415996 -0.17071716] yaw=-62.0deg	[env.py: 1019]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28932552 -1.2252314  -0.17071716] yaw=-48.8deg	[env.py: 1019]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38375488 -0.92389382 -0.17071716] yaw=-44.8deg	[env.py: 1019]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:28:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=232.0ms, total=232.1ms	[env.py: 1075]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.611, -0.964, -0.171)	[env.py: 1079]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg	[env.py: 1082]
+05/11 20:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/11 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:28:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:28:58 INFO: [Worker 0] Worker 0 house 1 episode 71/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:28:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:28:58 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]
+05/11 20:28:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:28:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:28:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.942s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:28:59 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.636[m] 94.450[deg]	[grasp_sample.py: 539]
+05/11 20:28:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:28:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:29:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:29:07 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:29:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:29:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:34 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:29:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:29:34 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/11 20:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:29:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:29:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:29:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.00s (batch: 3.70s, save: 10.30s)	[pipeline.py: 300]
+05/11 20:29:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:29:48 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=0.65s:
+  episode_total: mean=178.25s, total=178.25s, count=1, min=178249.6ms, max=178249.6ms
+  sensor_polling: mean=429.3ms, total=117.63s, count=274, min=305.9ms, max=716.6ms
+  save_trajectories: mean=10.30s, total=10.30s, count=1, min=10298.8ms, max=10298.8ms
+  physics_step: mean=27.4ms, total=7.50s, count=274, min=19.5ms, max=61.0ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3704.3ms, max=3704.3ms
+  task_sampling: mean=654.1ms, total=654.1ms, count=1, min=654.1ms, max=654.1ms
+  task_specific_sample: mean=651.1ms, total=651.1ms, count=1, min=651.1ms, max=651.1ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=567.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.1us, 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]
+05/11 20:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:29:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:29:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:29:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:29:50 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]
+05/11 20:29:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:29:50 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]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115828m	[env.py: 870]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:29:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56059386 -0.84289262 -0.11582848] yaw=-73.7deg	[env.py: 1019]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34433173 -1.17764751 -0.11582848] yaw=-39.9deg	[env.py: 1019]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:29:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=419.9ms, total=419.9ms	[env.py: 1075]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.561, -0.843, -0.116)	[env.py: 1079]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.7 deg	[env.py: 1082]
+05/11 20:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/11 20:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:29:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:29:50 INFO: [Worker 0] Worker 0 house 1 episode 70/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:29:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:29:51 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]
+05/11 20:29:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:29:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:29:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.013s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:29:53 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.756[m] 92.987[deg]	[grasp_sample.py: 539]
+05/11 20:29:54 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:29:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:29:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:29:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:29:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:29:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:29:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:29:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102377m	[env.py: 870]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:29:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5832786  -1.01700733 -0.10237666] yaw=-73.9deg	[env.py: 1019]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29793487 -1.2436022  -0.10237666] yaw=-33.3deg	[env.py: 1019]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:29:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=285.5ms, total=285.5ms	[env.py: 1075]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -1.017, -0.102)	[env.py: 1079]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg	[env.py: 1082]
+05/11 20:29:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/11 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:29:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:29:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:29:56 INFO: [Worker 0] Worker 0 house 1 episode 71/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:29:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:29:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:29:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:29:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:30:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.089s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:30:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.661[m] 95.877[deg]	[grasp_sample.py: 539]
+05/11 20:30:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:30:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:30:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:30:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:30:10 INFO: [Worker 0] Worker 0 house 1 episode 98 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:30:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:30:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:30:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:30:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:30:27 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]
+05/11 20:30:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:30:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:30:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.955s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:30:32 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.565[m] 77.162[deg]	[grasp_sample.py: 539]
+05/11 20:30:34 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:30:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:30:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:30:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:30:35 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]
+05/11 20:30:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:30:35 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]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162542m	[env.py: 870]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:30:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35876563 -1.04424321 -0.16254236] yaw=-47.1deg	[env.py: 1019]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:30:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=204.0ms, total=204.1ms	[env.py: 1075]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.044, -0.163)	[env.py: 1079]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg	[env.py: 1082]
+05/11 20:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/11 20:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:30:36 INFO: [Worker 0] Worker 0 house 1 episode 72/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:30:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:30:36 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]
+05/11 20:30:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:30:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:30:37 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:30:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:30:37 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/11 20:30:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.278s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:30:37 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.676[m] 83.826[deg]	[grasp_sample.py: 539]
+05/11 20:30:38 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:30:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:30:38 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]
+05/11 20:30:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:30:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 372 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:30:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.411s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:30:38 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.053[m] 2.099[deg]	[grasp_sample.py: 539]
+05/11 20:30:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:30:38 ERROR: [Worker 0] Worker 0 house 1 episode 72 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:30:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:30:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:30:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:30:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:30:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:30:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:30:40 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]
+05/11 20:30:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:30:40 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]
+05/11 20:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125239m	[env.py: 870]
+05/11 20:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:30:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=195.9ms, total=196.0ms	[env.py: 1105]
+05/11 20:30:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:30:40 ERROR: [Worker 0] Worker 0 house 1 episode 73 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:30:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:30:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:30:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:30:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:30:42 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]
+05/11 20:30:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:30:42 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]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108028m	[env.py: 870]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:30:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32873993 -0.87201756 -0.10802752] yaw=-54.3deg	[env.py: 1019]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:30:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=292.8ms, total=292.9ms	[env.py: 1075]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -0.872, -0.108)	[env.py: 1079]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg	[env.py: 1082]
+05/11 20:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/11 20:30:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:30:42 INFO: [Worker 0] Worker 0 house 1 episode 74/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:30:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:30:42 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]
+05/11 20:30:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:30:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:30:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:30:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.572s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:30:44 ERROR: [Worker 0] Worker 0 house 1 episode 74 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:30:44 INFO: [Worker 0] Worker 0 house 1 episode 106 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:30:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:30:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:30:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:30:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:30:45 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]
+05/11 20:30:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:30:45 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]
+05/11 20:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166451m	[env.py: 870]
+05/11 20:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:30:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=701.5ms, total=701.5ms	[env.py: 1105]
+05/11 20:30:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:30:46 ERROR: [Worker 0] Worker 0 house 1 episode 75 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:30:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:30:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:30:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:30:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:30:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:30:48 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]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160040m	[env.py: 870]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:30:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60084813 -0.78113314 -0.16004019] yaw=-71.8deg	[env.py: 1019]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:30:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=384.7ms, total=384.8ms	[env.py: 1075]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.601, -0.781, -0.160)	[env.py: 1079]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.8 deg	[env.py: 1082]
+05/11 20:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/11 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:30:48 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:30:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:30:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:30:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:30:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:30:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:30:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:30:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.83s (batch: 3.73s, save: 11.10s)	[pipeline.py: 300]
+05/11 20:30:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:30:52 INFO: [Worker 0] [PROFILE] Episode 98 house 1 success=True episode_total=0.52s:
+  episode_total: mean=198.84s, total=198.84s, count=1, min=198837.6ms, max=198837.6ms
+  sensor_polling: mean=471.7ms, total=134.91s, count=286, min=306.7ms, max=771.8ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11104.1ms, max=11104.1ms
+  physics_step: mean=28.4ms, total=8.13s, count=286, min=19.9ms, max=68.2ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3730.2ms, max=3730.2ms
+  task_sampling: mean=518.3ms, total=518.3ms, count=1, min=518.3ms, max=518.3ms
+  task_specific_sample: mean=514.6ms, total=514.6ms, count=1, min=514.6ms, max=514.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=578.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.7us, 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]
+05/11 20:30:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:30:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:30:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:30:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:30:54 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]
+05/11 20:30:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:30:54 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]
+05/11 20:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162183m	[env.py: 870]
+05/11 20:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:30:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.9ms, total=203.0ms	[env.py: 1105]
+05/11 20:30:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:30:54 ERROR: [Worker 0] Worker 0 house 1 episode 99 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:30:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:30:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:30:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:30:55 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]
+05/11 20:30:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:30:55 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]
+05/11 20:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139627m	[env.py: 870]
+05/11 20:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:30:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.4ms, total=219.4ms	[env.py: 1105]
+05/11 20:30:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:30:56 ERROR: [Worker 0] Worker 0 house 1 episode 100 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:30:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:30:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:30:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106160m	[env.py: 870]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=288.3ms, total=288.4ms	[env.py: 1105]
+05/11 20:30:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:30:58 ERROR: [Worker 0] Worker 0 house 1 episode 101 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:30:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.840s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:30:58 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.733[m] 83.112[deg]	[grasp_sample.py: 539]
+05/11 20:30:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:30:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:30:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:30:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:30:59 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]
+05/11 20:30:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:30:59 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]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193978m	[env.py: 870]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:30:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3427256  -1.18790986 -0.19397765] yaw=-35.0deg	[env.py: 1019]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41650636 -1.03633585 -0.19397765] yaw=-54.6deg	[env.py: 1019]
+05/11 20:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:31:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.6ms, total=240.6ms	[env.py: 1075]
+05/11 20:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -1.188, -0.194)	[env.py: 1079]
+05/11 20:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.0 deg	[env.py: 1082]
+05/11 20:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/11 20:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:31:00 INFO: [Worker 0] Worker 0 house 1 episode 102/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:31:00 ERROR: [Worker 0] Worker 0 house 1 episode 76 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:31:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:31:00 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]
+05/11 20:31:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:31:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:31:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:31:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:31:02 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]
+05/11 20:31:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:31:02 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]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112882m	[env.py: 870]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:31:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25502523 -0.95234931 -0.11288165] yaw=-46.0deg	[env.py: 1019]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:31:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=601.9ms, total=602.0ms	[env.py: 1075]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -0.952, -0.113)	[env.py: 1079]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg	[env.py: 1082]
+05/11 20:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/11 20:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:31:03 INFO: [Worker 0] Worker 0 house 1 episode 77/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:31:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.164s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:31:03 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]
+05/11 20:31:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:31:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.623s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:31:05 ERROR: [Worker 0] Worker 0 house 1 episode 77 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:31:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:31:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:31:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:31:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:31:06 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]
+05/11 20:31:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:31:06 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]
+05/11 20:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139362m	[env.py: 870]
+05/11 20:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:31:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=224.5ms, total=224.6ms	[env.py: 1105]
+05/11 20:31:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:31:06 ERROR: [Worker 0] Worker 0 house 1 episode 78 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:31:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.784s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:31:07 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.596[m] 82.388[deg]	[grasp_sample.py: 539]
+05/11 20:31:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:31:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:31:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:31:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:31:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:31:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:31:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:31:08 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]
+05/11 20:31:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:31:08 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]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159831m	[env.py: 870]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:31:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3033037  -1.12744254 -0.15983142] yaw=-37.6deg	[env.py: 1019]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54359696 -0.97449954 -0.15983142] yaw=-67.2deg	[env.py: 1019]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:31:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.24875794 -0.96241325 -0.15983142] yaw=-58.1deg	[env.py: 1019]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:31:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=311.8ms, total=311.8ms	[env.py: 1075]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.303, -1.127, -0.160)	[env.py: 1079]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg	[env.py: 1082]
+05/11 20:31:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/11 20:31:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:31:08 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:31:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:31:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:31:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:31:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:31:10 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.707[m] 83.913[deg]	[grasp_sample.py: 539]
+05/11 20:31:11 ERROR: [Worker 0] Worker 0 house 1 episode 79 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:31:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:31:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:31:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:31:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:31:13 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]
+05/11 20:31:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:31:13 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]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181329m	[env.py: 870]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:31:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39204371 -1.03178952 -0.18132869] yaw=-58.2deg	[env.py: 1019]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:31:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=358.6ms, total=358.7ms	[env.py: 1075]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -1.032, -0.181)	[env.py: 1079]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg	[env.py: 1082]
+05/11 20:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/11 20:31:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:13 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:31:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:31:13 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/11 20:31:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:31:13 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:31:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:31:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:31:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:31:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.351s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:31:17 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.725[m] 92.562[deg]	[grasp_sample.py: 539]
+05/11 20:31:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:31:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:31:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:31:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:31:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:31:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.55s (batch: 3.84s, save: 11.71s)	[pipeline.py: 300]
+05/11 20:31:30 INFO: [Worker 0] [PROFILE] Episode 106 house 1 success=True episode_total=1.86s:
+  episode_total: mean=34.67s, total=208.00s, count=6, min=224.6ms, max=200850.2ms
+  sensor_polling: mean=447.0ms, total=123.82s, count=277, min=278.4ms, max=868.7ms
+  save_trajectories: mean=11.71s, total=11.71s, count=1, min=11710.9ms, max=11710.9ms
+  physics_step: mean=28.3ms, total=7.83s, count=277, min=19.9ms, max=88.3ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3841.6ms, max=3841.6ms
+  task_specific_sample: mean=455.0ms, total=2.73s, count=6, min=221.2ms, max=771.1ms
+  task_sampling: mean=618.5ms, total=1.86s, count=3, min=483.0ms, max=774.3ms
+  task_sampling_failed: mean=297.8ms, total=893.5ms, count=3, min=224.6ms, max=374.0ms
+  scene_randomize: mean=1.3ms, total=8.0ms, count=6, min=0.9ms, max=2.4ms
+  mj_forward_sync: mean=486.0us, total=2.9ms, count=6, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:31:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:31:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:31:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:31:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:31:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:31:31 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]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145871m	[env.py: 870]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:31:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55409556 -0.97989287 -0.14587132] yaw=-52.7deg	[env.py: 1019]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:31:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=312.0ms, total=312.1ms	[env.py: 1075]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.554, -0.980, -0.146)	[env.py: 1079]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.7 deg	[env.py: 1082]
+05/11 20:31:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/11 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:31:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:31:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:31:32 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:31:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:31:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:31:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:31:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.221s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:31:32 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:31:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.036s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:31:33 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.651[m] 86.177[deg]	[grasp_sample.py: 539]
+05/11 20:31:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:31:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:31:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:31:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:31:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:31:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:06 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:32:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:32:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:32:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:32:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:32:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:32:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:32:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:32:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.763s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:32:10 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.492[m] 60.296[deg]	[grasp_sample.py: 539]
+05/11 20:32:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:32:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:32:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:32:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:32:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.80s (batch: 3.92s, save: 12.88s)	[pipeline.py: 300]
+05/11 20:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:32:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:32:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:32:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:32:24 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.58s:
+  episode_total: mean=206.70s, total=206.70s, count=1, min=206704.6ms, max=206704.6ms
+  sensor_polling: mean=435.1ms, total=130.54s, count=300, min=284.7ms, max=857.8ms
+  save_trajectories: mean=12.88s, total=12.88s, count=1, min=12881.0ms, max=12881.0ms
+  physics_step: mean=27.8ms, total=8.34s, count=300, min=19.9ms, max=84.6ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3922.1ms, max=3922.1ms
+  task_sampling: mean=580.5ms, total=580.5ms, count=1, min=580.5ms, max=580.5ms
+  task_specific_sample: mean=575.6ms, total=575.6ms, count=1, min=575.6ms, max=575.6ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=632.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:32:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:32:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:32:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:32:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:32:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:32:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:32:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:32:26 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]
+05/11 20:32:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:32:26 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]
+05/11 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132823m	[env.py: 870]
+05/11 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:32:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:32:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:32:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=240.7ms, total=240.8ms	[env.py: 1105]
+05/11 20:32:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:32:26 ERROR: [Worker 0] Worker 0 house 1 episode 72 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:32:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:32:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:32:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:32:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:32:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:32:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:32:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:32:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:32:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:32:27 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]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139926m	[env.py: 870]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:32:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56430118 -1.0285334  -0.13992616] yaw=-70.7deg	[env.py: 1019]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:32:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:32:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:32:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.3ms	[env.py: 1075]
+05/11 20:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.564, -1.029, -0.140)	[env.py: 1079]
+05/11 20:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg	[env.py: 1082]
+05/11 20:32:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/11 20:32:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:32:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:32:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:32:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:32:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:32:28 INFO: [Worker 0] Worker 0 house 1 episode 73/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:32:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:32:28 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]
+05/11 20:32:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:32:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:32:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.999s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:32:30 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.597[m] 87.518[deg]	[grasp_sample.py: 539]
+05/11 20:32:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:32:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:32:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.624s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:32:32 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.512[m] 60.272[deg]	[grasp_sample.py: 539]
+05/11 20:32:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:32:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:32:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:32:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:32:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:32:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:32:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:32:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.761s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:32:51 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.512[m] 60.272[deg]	[grasp_sample.py: 539]
+05/11 20:32:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:32:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:32:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:32:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:33:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:33:05 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]
+05/11 20:33:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:33:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.532s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:33:06 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.434[m] 59.680[deg]	[grasp_sample.py: 539]
+05/11 20:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:33:07 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:33:08 ERROR: [Worker 0] Worker 0 house 1 episode 73 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:33:08 INFO: [Worker 0] Worker 0 house 1 episode 107 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 20:33:08 INFO: [Worker 0] [PROFILE] Episode 107 house 1 success=False episode_total=0.62s:
+  episode_total: mean=96.61s, total=96.61s, count=1, min=96605.9ms, max=96605.9ms
+  sensor_polling: mean=452.4ms, total=34.38s, count=76, min=326.7ms, max=613.2ms
+  physics_step: mean=24.6ms, total=1.87s, count=76, min=13.8ms, max=44.8ms
+  task_sampling: mean=620.9ms, total=620.9ms, count=1, min=620.9ms, max=620.9ms
+  task_specific_sample: mean=616.4ms, total=616.4ms, count=1, min=616.4ms, max=616.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=625.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.5us, 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]
+05/11 20:33:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:33:09 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]
+05/11 20:33:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:33:09 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]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170764m	[env.py: 870]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:33:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:33:09 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]
+05/11 20:33:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:33:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147932m	[env.py: 870]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:33:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=299.0ms, total=299.0ms	[env.py: 1105]
+05/11 20:33:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:33:10 ERROR: [Worker 0] Worker 0 house 1 episode 74 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=640.9ms, total=641.0ms	[env.py: 1105]
+05/11 20:33:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:33:10 ERROR: [Worker 0] Worker 0 house 1 episode 108 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:33:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:33:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:33:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:33:11 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]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173590m	[env.py: 870]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:33:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.65869268 -0.931382   -0.1735897 ] yaw=-79.1deg	[env.py: 1019]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:33:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=223.9ms, total=223.9ms	[env.py: 1075]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.659, -0.931, -0.174)	[env.py: 1079]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.1 deg	[env.py: 1082]
+05/11 20:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/11 20:33:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:33:12 INFO: [Worker 0] Worker 0 house 1 episode 75/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:33:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:33:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:33:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:33:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:33:12 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]
+05/11 20:33:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:33:12 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]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171891m	[env.py: 870]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:33:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:33:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49969686 -0.90758328 -0.17189093] yaw=-50.6deg	[env.py: 1019]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:33:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=659.4ms, total=659.4ms	[env.py: 1075]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.500, -0.908, -0.172)	[env.py: 1079]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg	[env.py: 1082]
+05/11 20:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/11 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:33:13 INFO: [Worker 0] Worker 0 house 1 episode 109/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:33:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:33:13 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]
+05/11 20:33:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:33:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:33:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:33:14 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.626[m] 81.115[deg]	[grasp_sample.py: 539]
+05/11 20:33:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:33:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:33:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:33:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.807s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:33:15 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.731[m] 84.283[deg]	[grasp_sample.py: 539]
+05/11 20:33:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:33:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:33:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:33:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:33:18 INFO: [Worker 0] Worker 0 house 1 episode 102 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:35 INFO: [Worker 0] Worker 0 house 1 episode 80 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:33:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:42 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:33:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:33:42 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/11 20:33:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:33:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:33:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:33:45 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]
+05/11 20:33:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:33:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:33:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.174s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:33:49 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.466[m] 58.222[deg]	[grasp_sample.py: 539]
+05/11 20:33:50 ERROR: [Worker 0] Worker 0 house 1 episode 75 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:33:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:33:52 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]
+05/11 20:33:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:33:52 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]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143897m	[env.py: 870]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:33:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.361158   -0.84622163 -0.14389743] yaw=-64.0deg	[env.py: 1019]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48076409 -1.07105541 -0.14389743] yaw=-46.8deg	[env.py: 1019]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:33:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=267.4ms, total=267.5ms	[env.py: 1075]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.846, -0.144)	[env.py: 1079]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg	[env.py: 1082]
+05/11 20:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/11 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:33:52 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:33:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:33:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:33:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:33:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:33:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.557s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:33:54 ERROR: [Worker 0] Worker 0 house 1 episode 76 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:33:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:33:56 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]
+05/11 20:33:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:33:56 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]
+05/11 20:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132975m	[env.py: 870]
+05/11 20:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:33:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:33:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:33:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.92s (batch: 3.52s, save: 10.40s)	[pipeline.py: 300]
+05/11 20:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=458.6ms, total=458.7ms	[env.py: 1105]
+05/11 20:33:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:33:56 ERROR: [Worker 0] Worker 0 house 1 episode 77 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:33:56 INFO: [Worker 0] [PROFILE] Episode 102 house 1 success=True episode_total=0.56s:
+  episode_total: mean=44.45s, total=177.81s, count=4, min=214.3ms, max=177065.2ms
+  sensor_polling: mean=472.6ms, total=120.52s, count=255, min=307.7ms, max=814.7ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10396.9ms, max=10396.9ms
+  physics_step: mean=29.3ms, total=7.47s, count=255, min=20.2ms, max=138.4ms
+  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3520.5ms, max=3520.5ms
+  task_specific_sample: mean=320.6ms, total=1.28s, count=4, min=209.4ms, max=553.4ms
+  task_sampling_failed: mean=247.1ms, total=741.3ms, count=3, min=214.3ms, max=299.6ms
+  task_sampling: mean=555.7ms, total=555.7ms, count=1, min=555.7ms, max=555.7ms
+  scene_randomize: mean=1.5ms, total=6.1ms, count=4, min=0.9ms, max=2.7ms
+  mj_forward_sync: mean=491.4us, total=2.0ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=24.8us, total=0.0ms, count=1, 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]
+05/11 20:33:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:33:58 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]
+05/11 20:33:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:33:58 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]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190161m	[env.py: 870]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:33:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:33:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:33:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:33:58 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]
+05/11 20:33:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:33:58 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]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145473m	[env.py: 870]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:33:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:33:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=416.7ms, total=416.7ms	[env.py: 1105]
+05/11 20:33:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:33:58 ERROR: [Worker 0] Worker 0 house 1 episode 78 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:33:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=231.2ms, total=231.3ms	[env.py: 1105]
+05/11 20:33:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:33:58 ERROR: [Worker 0] Worker 0 house 1 episode 103 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:33:59 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:33:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:33:59 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/11 20:34:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:34:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:00 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]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145199m	[env.py: 870]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:34:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:00 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]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188406m	[env.py: 870]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.64881309 -0.9429822  -0.14519855] yaw=-60.9deg	[env.py: 1019]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58192845 -0.78677611 -0.18840562] yaw=-79.1deg	[env.py: 1019]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=441.9ms, total=442.0ms	[env.py: 1075]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.582, -0.787, -0.188)	[env.py: 1079]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.1 deg	[env.py: 1082]
+05/11 20:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=762.4ms, total=762.5ms	[env.py: 1075]
+05/11 20:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.649, -0.943, -0.145)	[env.py: 1079]
+05/11 20:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg	[env.py: 1082]
+05/11 20:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/11 20:34:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:01 INFO: [Worker 0] Worker 0 house 1 episode 104/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:34:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:01 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:34:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.443s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.669[m] 81.063[deg]	[grasp_sample.py: 539]
+05/11 20:34:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:34:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:34:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:34:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:34:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:34:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.53s (batch: 3.77s, save: 8.75s)	[pipeline.py: 300]
+05/11 20:34:12 INFO: [Worker 0] [PROFILE] Episode 80 house 1 success=True episode_total=5.30s:
+  episode_total: mean=22.46s, total=247.05s, count=11, min=207.8ms, max=179516.4ms
+  sensor_polling: mean=440.4ms, total=139.17s, count=316, min=305.1ms, max=741.7ms
+  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8752.3ms, max=8752.3ms
+  physics_step: mean=27.0ms, total=8.53s, count=316, min=19.5ms, max=53.7ms
+  task_specific_sample: mean=583.0ms, total=6.41s, count=11, min=202.3ms, max=898.3ms
+  task_sampling: mean=662.4ms, total=5.30s, count=8, min=501.4ms, max=902.3ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3773.1ms, max=3773.1ms
+  task_sampling_failed: mean=392.2ms, total=1.18s, count=3, min=207.8ms, max=734.1ms
+  scene_randomize: mean=1.5ms, total=16.0ms, count=11, min=1.0ms, max=3.0ms
+  mj_forward_sync: mean=559.1us, total=6.2ms, count=11, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.8us, total=0.1ms, count=8, 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]
+05/11 20:34:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:14 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]
+05/11 20:34:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:14 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]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182346m	[env.py: 870]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22054584 -0.92835196 -0.1823458 ] yaw=-56.0deg	[env.py: 1019]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46953317 -0.90009009 -0.1823458 ] yaw=-50.5deg	[env.py: 1019]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.7ms	[env.py: 1075]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -0.928, -0.182)	[env.py: 1079]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg	[env.py: 1082]
+05/11 20:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:14 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:34:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.530s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:34:16 ERROR: [Worker 0] Worker 0 house 1 episode 81 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:34:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:34:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:17 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]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178496m	[env.py: 870]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52843204 -1.05084075 -0.17849572] yaw=-60.9deg	[env.py: 1019]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29516225 -0.90305697 -0.17849572] yaw=-43.6deg	[env.py: 1019]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.0ms, total=215.0ms	[env.py: 1075]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -1.051, -0.178)	[env.py: 1079]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg	[env.py: 1082]
+05/11 20:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
+05/11 20:34:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:18 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:18 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]
+05/11 20:34:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.879s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:19 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.607[m] 95.252[deg]	[grasp_sample.py: 539]
+05/11 20:34:20 ERROR: [Worker 0] Worker 0 house 1 episode 82 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:34:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181930m	[env.py: 870]
+05/11 20:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=233.8ms, total=233.9ms	[env.py: 1105]
+05/11 20:34:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:34:22 ERROR: [Worker 0] Worker 0 house 1 episode 83 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:23 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]
+05/11 20:34:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:23 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]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153441m	[env.py: 870]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28235604 -0.9988632  -0.15344138] yaw=-39.1deg	[env.py: 1019]
+05/11 20:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=225.1ms, total=225.2ms	[env.py: 1075]
+05/11 20:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -0.999, -0.153)	[env.py: 1079]
+05/11 20:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.1 deg	[env.py: 1082]
+05/11 20:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/11 20:34:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:24 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:24 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]
+05/11 20:34:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.169s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.478s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:30 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.714[m] 80.809[deg]	[grasp_sample.py: 539]
+05/11 20:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:34:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:34:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:34:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:34:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:34:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:34:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:34:33 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]
+05/11 20:34:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 33.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:34 INFO: [Worker 0] Feasible grasp found 866 (originally 202): w/ 0.763[m] 94.611[deg]	[grasp_sample.py: 539]
+05/11 20:34:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:34:36 ERROR: [Worker 0] Worker 0 house 1 episode 104 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:34:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:37 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]
+05/11 20:34:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:37 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]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178732m	[env.py: 870]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52796993 -0.80794038 -0.17873234] yaw=-76.3deg	[env.py: 1019]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48422725 -0.73683098 -0.17873234] yaw=-57.1deg	[env.py: 1019]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.22103748 -1.12120805 -0.17873234] yaw=-50.7deg	[env.py: 1019]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=216.4ms, total=216.5ms	[env.py: 1075]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -0.808, -0.179)	[env.py: 1079]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.3 deg	[env.py: 1082]
+05/11 20:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/11 20:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.908s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:37 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.505[m] 57.299[deg]	[grasp_sample.py: 539]
+05/11 20:34:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:38 INFO: [Worker 0] Worker 0 house 1 episode 105/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:38 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]
+05/11 20:34:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:39 ERROR: [Worker 0] Worker 0 house 1 episode 79 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:34:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.247s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:40 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.778[m] 98.911[deg]	[grasp_sample.py: 539]
+05/11 20:34:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:41 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]
+05/11 20:34:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:41 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]
+05/11 20:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195193m	[env.py: 870]
+05/11 20:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=269.2ms, total=269.2ms	[env.py: 1105]
+05/11 20:34:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:34:41 ERROR: [Worker 0] Worker 0 house 1 episode 80 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:34:42 ERROR: [Worker 0] Worker 0 house 1 episode 105 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:34:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:43 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]
+05/11 20:34:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:43 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]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141515m	[env.py: 870]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36572729 -1.01151912 -0.14151505] yaw=-54.0deg	[env.py: 1019]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=274.8ms, total=274.8ms	[env.py: 1075]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -1.012, -0.142)	[env.py: 1079]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg	[env.py: 1082]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:43 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:43 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]
+05/11 20:34:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:43 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]
+05/11 20:34:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:43 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]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173286m	[env.py: 870]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=304.5ms, total=304.6ms	[env.py: 1105]
+05/11 20:34:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:34:44 ERROR: [Worker 0] Worker 0 house 1 episode 106 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:34:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:34:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:45 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]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174308m	[env.py: 870]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14184958 -1.05729894 -0.17430832] yaw=-40.0deg	[env.py: 1019]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:45 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.743[m] 81.432[deg]	[grasp_sample.py: 539]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62567685 -0.86948021 -0.17430832] yaw=-71.6deg	[env.py: 1019]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.9ms, total=243.0ms	[env.py: 1075]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.142, -1.057, -0.174)	[env.py: 1079]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.0 deg	[env.py: 1082]
+05/11 20:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/11 20:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:46 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:34:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:47 ERROR: [Worker 0] Worker 0 house 1 episode 81 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:34:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.573s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:34:48 ERROR: [Worker 0] Worker 0 house 1 episode 107 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:34:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:49 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]
+05/11 20:34:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:49 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]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151977m	[env.py: 870]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=286.8ms, total=286.8ms	[env.py: 1105]
+05/11 20:34:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:34:49 ERROR: [Worker 0] Worker 0 house 1 episode 82 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:34:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:49 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]
+05/11 20:34:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:49 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]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105281m	[env.py: 870]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54601779 -0.96868926 -0.10528067] yaw=-71.6deg	[env.py: 1019]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52406701 -0.85708498 -0.10528067] yaw=-70.9deg	[env.py: 1019]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.9ms, total=232.9ms	[env.py: 1075]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.546, -0.969, -0.105)	[env.py: 1079]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.6 deg	[env.py: 1082]
+05/11 20:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:50 INFO: [Worker 0] Worker 0 house 1 episode 108/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:50 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]
+05/11 20:34:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:51 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]
+05/11 20:34:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120038m	[env.py: 870]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26690962 -1.06886854 -0.12003779] yaw=-32.8deg	[env.py: 1019]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=458.0ms, total=458.0ms	[env.py: 1075]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.267, -1.069, -0.120)	[env.py: 1079]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg	[env.py: 1082]
+05/11 20:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/11 20:34:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:51 INFO: [Worker 0] Worker 0 house 1 episode 83/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:51 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]
+05/11 20:34:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.238s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:52 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.692[m] 97.371[deg]	[grasp_sample.py: 539]
+05/11 20:34:54 ERROR: [Worker 0] Worker 0 house 1 episode 108 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:34:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:55 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]
+05/11 20:34:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:55 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]
+05/11 20:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130286m	[env.py: 870]
+05/11 20:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=362.2ms, total=362.3ms	[env.py: 1105]
+05/11 20:34:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:34:56 ERROR: [Worker 0] Worker 0 house 1 episode 109 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:34:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.255s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:34:56 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.774[m] 80.613[deg]	[grasp_sample.py: 539]
+05/11 20:34:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:57 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]
+05/11 20:34:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127608m	[env.py: 870]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50877699 -1.02505846 -0.1276077 ] yaw=-64.9deg	[env.py: 1019]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=252.3ms, total=252.4ms	[env.py: 1075]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.509, -1.025, -0.128)	[env.py: 1079]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg	[env.py: 1082]
+05/11 20:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/11 20:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:57 ERROR: [Worker 0] Worker 0 house 1 episode 83 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:34:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:34:58 INFO: [Worker 0] Worker 0 house 1 episode 110/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:34:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:34:58 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]
+05/11 20:34:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:34:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:34:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:34:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:34:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:34:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:34:59 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]
+05/11 20:34:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:34:59 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]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149614m	[env.py: 870]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:34:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57758251 -0.87466349 -0.1496142 ] yaw=-65.9deg	[env.py: 1019]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:34:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=406.8ms, total=406.8ms	[env.py: 1075]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -0.875, -0.150)	[env.py: 1079]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg	[env.py: 1082]
+05/11 20:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/11 20:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:35:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:35:00 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:35:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:35:00 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]
+05/11 20:35:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:35:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:35:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.082s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:35:02 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.653[m] 101.606[deg]	[grasp_sample.py: 539]
+05/11 20:35:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:35:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:35:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:35:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:35:03 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.705[m] 94.906[deg]	[grasp_sample.py: 539]
+05/11 20:35:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:35:05 ERROR: [Worker 0] Worker 0 house 1 episode 84 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:35:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:35:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:35:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:35:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:35:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:35:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:35:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:35:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:35:06 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]
+05/11 20:35:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:35:06 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]
+05/11 20:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182869m	[env.py: 870]
+05/11 20:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:35:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:35:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:35:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=458.8ms, total=458.9ms	[env.py: 1105]
+05/11 20:35:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:35:07 ERROR: [Worker 0] Worker 0 house 1 episode 85 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:35:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:35:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:35:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:35:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:35:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:35:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:35:08 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]
+05/11 20:35:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:35:08 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]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111789m	[env.py: 870]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:35:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31015768 -1.19236447 -0.11178917] yaw=-40.0deg	[env.py: 1019]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:35:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=290.2ms, total=290.3ms	[env.py: 1075]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -1.192, -0.112)	[env.py: 1079]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.0 deg	[env.py: 1082]
+05/11 20:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
+05/11 20:35:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:35:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:35:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:35:09 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:35:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:35:09 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]
+05/11 20:35:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:35:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:35:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.767s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:35:13 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.685[m] 84.156[deg]	[grasp_sample.py: 539]
+05/11 20:35:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:35:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:35:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:35:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:31 INFO: [Worker 0] Worker 0 house 1 episode 109 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:35:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:35:36 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]
+05/11 20:35:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:35:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:35:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.921s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:35:39 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.520[m] 74.920[deg]	[grasp_sample.py: 539]
+05/11 20:35:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:35:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:35:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:35:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:35:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:35:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:35:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:35:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:35:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:35:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:35:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.566s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:35:56 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.520[m] 74.920[deg]	[grasp_sample.py: 539]
+05/11 20:35:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:35:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:35:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:35:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:00 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:36:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:36:00 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/11 20:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:36:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:36:12 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]
+05/11 20:36:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:36:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:36:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.672s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:36:14 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.520[m] 74.920[deg]	[grasp_sample.py: 539]
+05/11 20:36:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:36:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:36:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:36:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:36:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.71s (batch: 4.44s, save: 11.26s)	[pipeline.py: 300]
+05/11 20:36:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:17 INFO: [Worker 0] [PROFILE] Episode 109 house 1 success=True episode_total=1.01s:
+  episode_total: mean=92.82s, total=185.65s, count=2, min=664.3ms, max=184981.7ms
+  sensor_polling: mean=440.3ms, total=124.15s, count=282, min=274.9ms, max=752.2ms
+  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11264.3ms, max=11264.3ms
+  physics_step: mean=28.4ms, total=8.02s, count=282, min=19.7ms, max=118.2ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4444.2ms, max=4444.2ms
+  task_specific_sample: mean=824.8ms, total=1.65s, count=2, min=646.2ms, max=1003.4ms
+  task_sampling: mean=1.01s, total=1.01s, count=1, min=1006.9ms, max=1006.9ms
+  task_sampling_failed: mean=664.3ms, total=664.3ms, count=1, min=664.3ms, max=664.3ms
+  scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=1.0ms, max=1.2ms
+  mj_forward_sync: mean=475.5us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:36:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:36:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:36:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:36:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:36:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:36:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164730m	[env.py: 870]
+05/11 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=232.3ms, total=232.3ms	[env.py: 1105]
+05/11 20:36:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:36:18 ERROR: [Worker 0] Worker 0 house 1 episode 110 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:36:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:36:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:36:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:36:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:36:20 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]
+05/11 20:36:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:36:20 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]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104281m	[env.py: 870]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:36:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26521044 -1.08154057 -0.10428085] yaw=-45.6deg	[env.py: 1019]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:36:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=223.7ms, total=223.7ms	[env.py: 1075]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -1.082, -0.104)	[env.py: 1079]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg	[env.py: 1082]
+05/11 20:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/11 20:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:36:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:36:20 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:36:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:36:20 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]
+05/11 20:36:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:36:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:36:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:36:26 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.734[m] 81.550[deg]	[grasp_sample.py: 539]
+05/11 20:36:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:36:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:36:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:36:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:36:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:36:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:36:30 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:36:31 INFO: [Worker 0] Worker 0 house 1 episode 110 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 20:36:31 INFO: [Worker 0] [PROFILE] Episode 110 house 1 success=False episode_total=2.82s:
+  episode_total: mean=17.75s, total=141.98s, count=8, min=245.8ms, max=93703.0ms
+  sensor_polling: mean=480.6ms, total=34.13s, count=71, min=350.3ms, max=696.0ms
+  task_specific_sample: mean=465.1ms, total=3.72s, count=8, min=240.1ms, max=834.9ms
+  task_sampling: mean=563.5ms, total=2.82s, count=5, min=442.2ms, max=838.1ms
+  physics_step: mean=24.0ms, total=1.70s, count=71, min=13.5ms, max=73.1ms
+  task_sampling_failed: mean=311.1ms, total=933.3ms, count=3, min=245.8ms, max=373.0ms
+  scene_randomize: mean=1.7ms, total=13.2ms, count=8, min=1.2ms, max=3.3ms
+  mj_forward_sync: mean=582.9us, total=4.7ms, count=8, min=0.4ms, max=0.7ms
+  policy_setup: mean=13.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:36:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:36:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:36:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:36:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:36:32 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]
+05/11 20:36:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:36:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155798m	[env.py: 870]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:36:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3301645  -1.09939998 -0.15579775] yaw=-50.6deg	[env.py: 1019]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21445017 -0.92640657 -0.15579775] yaw=-44.8deg	[env.py: 1019]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53461116 -0.73036257 -0.15579775] yaw=-68.2deg	[env.py: 1019]
+05/11 20:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:36:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=233.4ms, total=233.4ms	[env.py: 1075]
+05/11 20:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -1.099, -0.156)	[env.py: 1079]
+05/11 20:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg	[env.py: 1082]
+05/11 20:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/11 20:36:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:36:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:36:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:36:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:36:33 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:36:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:36:33 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]
+05/11 20:36:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:36:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:36:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:36:35 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.664[m] 81.943[deg]	[grasp_sample.py: 539]
+05/11 20:36:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:36:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:36:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:36:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:36:50 INFO: [Worker 0] Worker 0 house 1 episode 84 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:37:17 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:37:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:37:17 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/11 20:37:26 INFO: [Worker 0] Worker 0 house 1 episode 86 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:37:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:37:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:37:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.44s (batch: 3.74s, save: 10.70s)	[pipeline.py: 300]
+05/11 20:37:32 INFO: [Worker 0] [PROFILE] Episode 84 house 1 success=True episode_total=1.43s:
+  episode_total: mean=48.43s, total=193.73s, count=4, min=245.1ms, max=188593.0ms
+  sensor_polling: mean=467.7ms, total=129.54s, count=277, min=316.4ms, max=790.4ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10702.1ms, max=10702.1ms
+  physics_step: mean=29.2ms, total=8.09s, count=277, min=14.8ms, max=105.6ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3736.7ms, max=3736.7ms
+  task_specific_sample: mean=416.2ms, total=1.66s, count=4, min=241.5ms, max=528.4ms
+  task_sampling: mean=477.4ms, total=1.43s, count=3, min=414.3ms, max=531.4ms
+  task_sampling_failed: mean=245.1ms, total=245.1ms, count=1, min=245.1ms, max=245.1ms
+  scene_randomize: mean=1.5ms, total=5.8ms, count=4, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=552.2us, total=2.2ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.3us, 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]
+05/11 20:37:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:37:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:37:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:37:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:37:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:37:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:37:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:37:33 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]
+05/11 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170909m	[env.py: 870]
+05/11 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:37:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:37:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=244.2ms, total=244.2ms	[env.py: 1105]
+05/11 20:37:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:37:34 ERROR: [Worker 0] Worker 0 house 1 episode 85 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:37:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:37:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:37:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:37:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:37:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:37:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:37:35 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]
+05/11 20:37:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:37:35 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]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139457m	[env.py: 870]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:37:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33964348 -0.95679653 -0.13945697] yaw=-53.2deg	[env.py: 1019]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43471759 -1.06986931 -0.13945697] yaw=-42.9deg	[env.py: 1019]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23477661 -1.13519891 -0.13945697] yaw=-49.4deg	[env.py: 1019]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:37:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.8ms, total=298.8ms	[env.py: 1075]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.340, -0.957, -0.139)	[env.py: 1079]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg	[env.py: 1082]
+05/11 20:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/11 20:37:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:37:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:37:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:37:36 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:37:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:37:36 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]
+05/11 20:37:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:37:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:37:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:37:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.321s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:37:41 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.736[m] 87.969[deg]	[grasp_sample.py: 539]
+05/11 20:37:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:37:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:37:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:37:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:37:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:37:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:37:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:37:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:37:55 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:37:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:37:55 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/11 20:37:59 INFO: [Worker 0] Object is not in grasp! 0.00193 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:37:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:37:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:37:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:38:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 379 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:38:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.218s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:38:02 INFO: [Worker 0] Feasible grasp found 412 (originally 412): w/ 0.067[m] 17.734[deg]	[grasp_sample.py: 539]
+05/11 20:38:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:38:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:38:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:38:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:38:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.56s (batch: 4.37s, save: 12.19s)	[pipeline.py: 300]
+05/11 20:38:12 INFO: [Worker 0] [PROFILE] Episode 86 house 1 success=True episode_total=5.00s:
+  episode_total: mean=21.61s, total=324.22s, count=15, min=258.6ms, max=184313.3ms
+  sensor_polling: mean=440.4ms, total=180.56s, count=410, min=262.2ms, max=717.4ms
+  save_trajectories: mean=12.19s, total=12.19s, count=1, min=12193.2ms, max=12193.2ms
+  physics_step: mean=27.3ms, total=11.18s, count=410, min=14.8ms, max=66.7ms
+  task_specific_sample: mean=496.9ms, total=7.45s, count=15, min=249.1ms, max=1019.9ms
+  task_sampling: mean=625.4ms, total=5.00s, count=8, min=471.6ms, max=1022.2ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4371.7ms, max=4371.7ms
+  task_sampling_failed: mean=360.3ms, total=2.52s, count=7, min=258.6ms, max=472.3ms
+  scene_randomize: mean=1.4ms, total=21.0ms, count=15, min=1.0ms, max=2.9ms
+  mj_forward_sync: mean=561.8us, total=8.4ms, count=15, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.8us, total=0.1ms, count=8, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=15, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:38:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:38:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:38:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:38:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:38:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:38:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:38:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:38:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:38:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:38:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:38:14 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]
+05/11 20:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147150m	[env.py: 870]
+05/11 20:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:38:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=208.7ms, total=208.7ms	[env.py: 1105]
+05/11 20:38:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:38:14 ERROR: [Worker 0] Worker 0 house 1 episode 87 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:38:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:38:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:38:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:38:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:38:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:38:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:38:16 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]
+05/11 20:38:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:38:16 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]
+05/11 20:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180271m	[env.py: 870]
+05/11 20:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:38:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=277.6ms, total=277.7ms	[env.py: 1105]
+05/11 20:38:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:38:16 ERROR: [Worker 0] Worker 0 house 1 episode 88 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:38:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:38:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:38:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:38:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:38:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:38:18 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]
+05/11 20:38:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:38:18 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]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163350m	[env.py: 870]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:38:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=639.6ms, total=639.6ms	[env.py: 1105]
+05/11 20:38:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:38:18 ERROR: [Worker 0] Worker 0 house 1 episode 89 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:38:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:38:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:38:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:38:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:38:20 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]
+05/11 20:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:38:20 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]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167679m	[env.py: 870]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32314985 -1.23258933 -0.1676785 ] yaw=-34.5deg	[env.py: 1019]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=595.1ms, total=595.1ms	[env.py: 1075]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -1.233, -0.168)	[env.py: 1079]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.5 deg	[env.py: 1082]
+05/11 20:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/11 20:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:38:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:38:21 INFO: [Worker 0] Worker 0 house 1 episode 90/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:38:21 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]
+05/11 20:38:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:38:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:38:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.015s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:38:23 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.629[m] 83.838[deg]	[grasp_sample.py: 539]
+05/11 20:38:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:38:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:38:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:38:50 INFO: [Worker 0] Worker 0 house 1 episode 111 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:38:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:38:59 INFO: [Worker 0] Worker 0 house 1 episode 111 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:39:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:39:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:39:19 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:39:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:39:19 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/11 20:39:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:39:32 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:39:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:39:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 20:39:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:39:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:39:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.06s (batch: 4.71s, save: 10.35s)	[pipeline.py: 300]
+05/11 20:39:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:39:35 INFO: [Worker 0] [PROFILE] Episode 111 house 1 success=True episode_total=0.56s:
+  episode_total: mean=182.47s, total=182.47s, count=1, min=182473.8ms, max=182473.8ms
+  sensor_polling: mean=464.4ms, total=123.99s, count=267, min=318.7ms, max=797.5ms
+  save_trajectories: mean=10.35s, total=10.35s, count=1, min=10354.8ms, max=10354.8ms
+  physics_step: mean=28.5ms, total=7.62s, count=267, min=16.5ms, max=96.4ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4707.1ms, max=4707.1ms
+  task_sampling: mean=563.2ms, total=563.2ms, count=1, min=563.2ms, max=563.2ms
+  task_specific_sample: mean=560.2ms, total=560.2ms, count=1, min=560.2ms, max=560.2ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=573.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:39:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:39:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:39:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:39:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:39:36 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]
+05/11 20:39:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:39:36 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]
+05/11 20:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177030m	[env.py: 870]
+05/11 20:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:39:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41323759 -1.03708954 -0.17703023] yaw=-43.7deg	[env.py: 1019]
+05/11 20:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:39:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=251.8ms, total=251.9ms	[env.py: 1075]
+05/11 20:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -1.037, -0.177)	[env.py: 1079]
+05/11 20:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg	[env.py: 1082]
+05/11 20:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/11 20:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:39:37 INFO: [Worker 0] Worker 0 house 1 episode 112/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:39:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:39:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:39:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:39:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:39:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.675s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:39:41 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.692[m] 77.911[deg]	[grasp_sample.py: 539]
+05/11 20:39:42 ERROR: [Worker 0] Worker 0 house 1 episode 112 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:39:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:39:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:39:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:39:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:39:44 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]
+05/11 20:39:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:39:44 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]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123552m	[env.py: 870]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:39:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.6329321  -0.91706455 -0.12355194] yaw=-73.5deg	[env.py: 1019]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14258093 -1.01574273 -0.12355194] yaw=-44.8deg	[env.py: 1019]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:39:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=484.3ms, total=484.3ms	[env.py: 1075]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.633, -0.917, -0.124)	[env.py: 1079]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.5 deg	[env.py: 1082]
+05/11 20:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/11 20:39:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:39:45 INFO: [Worker 0] Worker 0 house 1 episode 113/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:39:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:39:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:39:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:39:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:39:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:39:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:39:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 17.00s (batch: 4.29s, save: 12.72s)	[pipeline.py: 300]
+05/11 20:39:50 INFO: [Worker 0] [PROFILE] Episode 111 house 1 success=True episode_total=0.49s:
+  episode_total: mean=104.95s, total=209.91s, count=2, min=246.4ms, max=209659.8ms
+  sensor_polling: mean=442.3ms, total=132.70s, count=300, min=279.8ms, max=713.4ms
+  save_trajectories: mean=12.72s, total=12.72s, count=1, min=12715.7ms, max=12715.7ms
+  physics_step: mean=28.3ms, total=8.50s, count=300, min=20.0ms, max=70.7ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4285.1ms, max=4285.1ms
+  task_specific_sample: mean=361.4ms, total=722.8ms, count=2, min=240.2ms, max=482.6ms
+  task_sampling: mean=485.3ms, total=485.3ms, count=1, min=485.3ms, max=485.3ms
+  task_sampling_failed: mean=246.4ms, total=246.4ms, count=1, min=246.4ms, max=246.4ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms
+  mj_forward_sync: mean=525.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:39:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:39:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:39:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:39:51 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]
+05/11 20:39:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:39:51 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]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169129m	[env.py: 870]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:39:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19156576 -0.97896612 -0.1691292 ] yaw=-51.2deg	[env.py: 1019]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34665468 -1.14523954 -0.1691292 ] yaw=-54.9deg	[env.py: 1019]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23576301 -1.08797285 -0.1691292 ] yaw=-41.5deg	[env.py: 1019]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:39:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=230.7ms, total=230.7ms	[env.py: 1075]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.192, -0.979, -0.169)	[env.py: 1079]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg	[env.py: 1082]
+05/11 20:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/11 20:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:39:52 INFO: [Worker 0] Worker 0 house 1 episode 112/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:39:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:39:52 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]
+05/11 20:39:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:39:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:39:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.826s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:39:53 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.675[m] 91.838[deg]	[grasp_sample.py: 539]
+05/11 20:39:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.584s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:39:54 ERROR: [Worker 0] Worker 0 house 1 episode 112 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:39:54 ERROR: [Worker 0] Worker 0 house 1 episode 113 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:39:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:39:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:39:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:39:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:39:55 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]
+05/11 20:39:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:39:55 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]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120279m	[env.py: 870]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:39:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -12.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=385.5ms, total=385.6ms	[env.py: 1105]
+05/11 20:39:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:39:55 ERROR: [Worker 0] Worker 0 house 1 episode 113 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:39:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:39:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:39:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:39:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:39:55 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]
+05/11 20:39:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:39:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101608m	[env.py: 870]
+05/11 20:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:39:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51614049 -0.85927368 -0.10160844] yaw=-57.7deg	[env.py: 1019]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:39:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=497.9ms, total=498.0ms	[env.py: 1075]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.516, -0.859, -0.102)	[env.py: 1079]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.7 deg	[env.py: 1082]
+05/11 20:39:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/11 20:39:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:39:56 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:39:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:39:56 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]
+05/11 20:39:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:39:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:39:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:39:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:39:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:39:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:39:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:39:57 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]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189073m	[env.py: 870]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:39:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51118911 -0.89539978 -0.18907272] yaw=-62.8deg	[env.py: 1019]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:39:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.3ms, total=233.3ms	[env.py: 1075]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.511, -0.895, -0.189)	[env.py: 1079]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg	[env.py: 1082]
+05/11 20:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/11 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:39:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:39:57 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:39:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:39:57 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]
+05/11 20:39:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:39:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:40:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.394s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:40:03 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.735[m] 89.380[deg]	[grasp_sample.py: 539]
+05/11 20:40:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:40:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:40:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:40:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.152s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:40:04 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.796[m] 80.345[deg]	[grasp_sample.py: 539]
+05/11 20:40:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:40:05 ERROR: [Worker 0] Worker 0 house 1 episode 114 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:40:06 INFO: [Worker 0] Worker 0 house 1 episode 86 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:40:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:40:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:40:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:40:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:40:07 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]
+05/11 20:40:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:40:07 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]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173810m	[env.py: 870]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:40:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53350437 -0.91865016 -0.17380979] yaw=-64.0deg	[env.py: 1019]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:40:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=558.0ms, total=558.0ms	[env.py: 1075]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.534, -0.919, -0.174)	[env.py: 1079]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg	[env.py: 1082]
+05/11 20:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/11 20:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:40:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:40:08 INFO: [Worker 0] Worker 0 house 1 episode 115/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:40:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:40:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:40:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:40:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:40:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:40:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.661[m] 87.229[deg]	[grasp_sample.py: 539]
+05/11 20:40:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:40:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:40:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:40:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:40:34 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:40:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:40:34 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/11 20:40:34 INFO: [Worker 0] Worker 0 house 1 episode 90 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:40:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:40:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:40:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.09s (batch: 3.80s, save: 10.29s)	[pipeline.py: 300]
+05/11 20:40:49 INFO: [Worker 0] [PROFILE] Episode 86 house 1 success=True episode_total=0.59s:
+  episode_total: mean=96.97s, total=193.94s, count=2, min=266.9ms, max=193674.8ms
+  sensor_polling: mean=471.2ms, total=132.89s, count=282, min=327.5ms, max=778.7ms
+  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10285.2ms, max=10285.2ms
+  physics_step: mean=29.9ms, total=8.43s, count=282, min=19.7ms, max=114.8ms
+  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3804.7ms, max=3804.7ms
+  task_specific_sample: mean=416.3ms, total=832.6ms, count=2, min=249.9ms, max=582.7ms
+  task_sampling: mean=585.9ms, total=585.9ms, count=1, min=585.9ms, max=585.9ms
+  task_sampling_failed: mean=266.8ms, total=266.8ms, count=1, min=266.8ms, max=266.8ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
+  mj_forward_sync: mean=467.8us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
+  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]
+05/11 20:40:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:40:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:40:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:40:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:40:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:40:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:40:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:40:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:40:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:40:50 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]
+05/11 20:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142928m	[env.py: 870]
+05/11 20:40:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:40:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27520263 -1.20456844 -0.14292824] yaw=-40.4deg	[env.py: 1019]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51751266 -0.90411941 -0.14292824] yaw=-63.7deg	[env.py: 1019]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:40:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=655.5ms, total=655.6ms	[env.py: 1075]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.275, -1.205, -0.143)	[env.py: 1079]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg	[env.py: 1082]
+05/11 20:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/11 20:40:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:40:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:40:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:40:51 INFO: [Worker 0] Worker 0 house 1 episode 87/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:40:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:40:52 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]
+05/11 20:40:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:40:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:40:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.799s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:40:53 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.701[m] 91.740[deg]	[grasp_sample.py: 539]
+05/11 20:40:55 ERROR: [Worker 0] Worker 0 house 1 episode 87 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:40:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:40:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:40:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:40:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:40:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:40:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:40:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170807m	[env.py: 870]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:40:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5181484  -0.87537024 -0.17080653] yaw=-56.5deg	[env.py: 1019]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.56679033 -0.84148644 -0.17080653] yaw=-65.4deg	[env.py: 1019]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:40:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=303.7ms, total=303.8ms	[env.py: 1075]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -0.875, -0.171)	[env.py: 1079]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg	[env.py: 1082]
+05/11 20:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/11 20:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:40:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:40:57 INFO: [Worker 0] Worker 0 house 1 episode 88/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:40:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:40:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:40:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:40:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:01 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:41:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:41:01 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/11 20:41:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:03 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.730[m] 91.786[deg]	[grasp_sample.py: 539]
+05/11 20:41:04 ERROR: [Worker 0] Worker 0 house 1 episode 88 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:41:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:41:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:41:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:41:06 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]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183828m	[env.py: 870]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:41:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44661014 -1.03480257 -0.18382778] yaw=-43.5deg	[env.py: 1019]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:41:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=238.1ms, total=238.1ms	[env.py: 1075]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.447, -1.035, -0.184)	[env.py: 1079]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.5 deg	[env.py: 1082]
+05/11 20:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/11 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:41:06 INFO: [Worker 0] Worker 0 house 1 episode 89/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:41:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:41:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:41:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.624s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:08 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.671[m] 92.932[deg]	[grasp_sample.py: 539]
+05/11 20:41:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:41:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:41:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:41:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:41:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:41:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.49s (batch: 3.93s, save: 10.55s)	[pipeline.py: 300]
+05/11 20:41:16 INFO: [Worker 0] [PROFILE] Episode 90 house 1 success=True episode_total=0.97s:
+  episode_total: mean=44.34s, total=177.38s, count=4, min=220.9ms, max=176209.6ms
+  sensor_polling: mean=455.7ms, total=119.85s, count=263, min=289.6ms, max=1042.9ms
+  save_trajectories: mean=10.55s, total=10.55s, count=1, min=10552.6ms, max=10552.6ms
+  physics_step: mean=28.8ms, total=7.58s, count=263, min=20.0ms, max=105.2ms
+  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3932.7ms, max=3932.7ms
+  task_specific_sample: mean=530.9ms, total=2.12s, count=4, min=214.5ms, max=971.5ms
+  task_sampling_failed: mean=388.7ms, total=1.17s, count=3, min=220.9ms, max=657.2ms
+  task_sampling: mean=974.4ms, total=974.4ms, count=1, min=974.4ms, max=974.4ms
+  scene_randomize: mean=1.6ms, total=6.2ms, count=4, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=554.6us, total=2.2ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, 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]
+05/11 20:41:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:41:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:41:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:41:18 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]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116936m	[env.py: 870]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:41:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27289984 -0.95661865 -0.1169363 ] yaw=-37.8deg	[env.py: 1019]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:41:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=229.3ms, total=229.4ms	[env.py: 1075]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.273, -0.957, -0.117)	[env.py: 1079]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.8 deg	[env.py: 1082]
+05/11 20:41:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/11 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:41:18 INFO: [Worker 0] Worker 0 house 1 episode 91/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:41:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:41:18 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]
+05/11 20:41:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:41:20 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]
+05/11 20:41:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.688s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:41:20 ERROR: [Worker 0] Worker 0 house 1 episode 91 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:41:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:41:22 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]
+05/11 20:41:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:41:22 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]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174511m	[env.py: 870]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:41:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38447613 -1.14625555 -0.17451114] yaw=-35.4deg	[env.py: 1019]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:41:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.926s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:22 INFO: [Worker 0] Feasible grasp found 128 (originally 128): w/ 0.157[m] 10.467[deg]	[grasp_sample.py: 539]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:41:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=209.9ms, total=209.9ms	[env.py: 1075]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -1.146, -0.175)	[env.py: 1079]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg	[env.py: 1082]
+05/11 20:41:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/11 20:41:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:41:22 INFO: [Worker 0] Worker 0 house 1 episode 92/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:41:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:41:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:41:22 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]
+05/11 20:41:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:41:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.055s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:24 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.599[m] 84.774[deg]	[grasp_sample.py: 539]
+05/11 20:41:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:41:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:41:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:41:36 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]
+05/11 20:41:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:41:37 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]
+05/11 20:41:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.904s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:38 INFO: [Worker 0] Feasible grasp found 386 (originally 386): w/ 0.177[m] 14.831[deg]	[grasp_sample.py: 539]
+05/11 20:41:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.719s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:39 INFO: [Worker 0] Feasible grasp found 194 (originally 194): w/ 0.177[m] 14.938[deg]	[grasp_sample.py: 539]
+05/11 20:41:39 ERROR: [Worker 0] Worker 0 house 1 episode 114 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:41:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:41:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:41:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:41:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:41:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:41:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:41:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:41:41 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]
+05/11 20:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180558m	[env.py: 870]
+05/11 20:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:41:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=299.6ms, total=299.7ms	[env.py: 1105]
+05/11 20:41:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:41:41 ERROR: [Worker 0] Worker 0 house 1 episode 115 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:41:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.015s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:42 INFO: [Worker 0] Feasible grasp found 528 (originally 528): w/ 0.521[m] 35.771[deg]	[grasp_sample.py: 539]
+05/11 20:41:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:41:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:41:42 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]
+05/11 20:41:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:41:42 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]
+05/11 20:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148492m	[env.py: 870]
+05/11 20:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:41:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 143.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=315.7ms, total=315.7ms	[env.py: 1105]
+05/11 20:41:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:41:43 ERROR: [Worker 0] Worker 0 house 1 episode 116 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:41:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:41:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:41:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:41:44 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]
+05/11 20:41:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:41:44 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]
+05/11 20:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115975m	[env.py: 870]
+05/11 20:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:41:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=227.3ms, total=227.3ms	[env.py: 1105]
+05/11 20:41:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:41:44 ERROR: [Worker 0] Worker 0 house 1 episode 117 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:41:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:41:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:41:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:41:46 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]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139495m	[env.py: 870]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:41:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42489077 -0.77823804 -0.13949504] yaw=-69.3deg	[env.py: 1019]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60143263 -0.95879599 -0.13949504] yaw=-73.5deg	[env.py: 1019]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -92.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:41:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=269.6ms, total=269.6ms	[env.py: 1075]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -0.778, -0.139)	[env.py: 1079]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.3 deg	[env.py: 1082]
+05/11 20:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/11 20:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:41:46 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:41:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:41:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:41:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.450s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:41:48 ERROR: [Worker 0] Worker 0 house 1 episode 118 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:41:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:41:49 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]
+05/11 20:41:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:41:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154194m	[env.py: 870]
+05/11 20:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:41:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38643108 -1.02492523 -0.15419366] yaw=-56.1deg	[env.py: 1019]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.55473148 -0.82511172 -0.15419366] yaw=-66.3deg	[env.py: 1019]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:41:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=307.7ms, total=307.7ms	[env.py: 1075]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -1.025, -0.154)	[env.py: 1079]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.1 deg	[env.py: 1082]
+05/11 20:41:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/11 20:41:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:41:50 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:41:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:41:50 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]
+05/11 20:41:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.114s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:41:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.694s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:41:53 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.691[m] 83.735[deg]	[grasp_sample.py: 539]
+05/11 20:41:54 ERROR: [Worker 0] Worker 0 house 1 episode 119 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:41:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:41:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:41:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:41:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:41:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:41:56 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]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100252m	[env.py: 870]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:41:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45680699 -1.04269002 -0.10025197] yaw=-59.5deg	[env.py: 1019]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:41:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=240.0ms, total=240.1ms	[env.py: 1075]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.457, -1.043, -0.100)	[env.py: 1079]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg	[env.py: 1082]
+05/11 20:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/11 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:41:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:41:57 INFO: [Worker 0] Worker 0 house 1 episode 120/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:41:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:41:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:41:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:41:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.613s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:42:00 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.698[m] 92.467[deg]	[grasp_sample.py: 539]
+05/11 20:42:02 ERROR: [Worker 0] Worker 0 house 1 episode 120 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:42:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:42:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:42:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:42:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:42:03 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]
+05/11 20:42:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:42:03 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]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127319m	[env.py: 870]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:42:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61196281 -0.89424559 -0.1273186 ] yaw=-66.0deg	[env.py: 1019]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 143.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39135366 -0.84032855 -0.1273186 ] yaw=-51.6deg	[env.py: 1019]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:42:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=369.2ms, total=369.2ms	[env.py: 1075]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.894, -0.127)	[env.py: 1079]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg	[env.py: 1082]
+05/11 20:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/11 20:42:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:42:04 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:42:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:42:04 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]
+05/11 20:42:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:42:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.329s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:42:07 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.731[m] 92.593[deg]	[grasp_sample.py: 539]
+05/11 20:42:09 ERROR: [Worker 0] Worker 0 house 1 episode 121 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:42:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:42:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:42:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:42:10 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]
+05/11 20:42:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:42:10 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]
+05/11 20:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157518m	[env.py: 870]
+05/11 20:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:42:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=358.1ms, total=358.1ms	[env.py: 1105]
+05/11 20:42:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:42:10 ERROR: [Worker 0] Worker 0 house 1 episode 122 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:42:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:42:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:42:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:42:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:42:12 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]
+05/11 20:42:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:42:12 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]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160523m	[env.py: 870]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:42:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.55082353 -1.00394752 -0.1605227 ] yaw=-69.8deg	[env.py: 1019]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:42:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=449.4ms, total=449.5ms	[env.py: 1075]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -1.004, -0.161)	[env.py: 1079]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg	[env.py: 1082]
+05/11 20:42:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/11 20:42:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:42:12 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:42:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:42:13 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]
+05/11 20:42:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:42:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:42:14 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.657[m] 93.066[deg]	[grasp_sample.py: 539]
+05/11 20:42:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:42:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:42:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:42:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:42:29 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]
+05/11 20:42:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:42:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.251s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:42:32 INFO: [Worker 0] Feasible grasp found 128 (originally 128): w/ 0.340[m] 25.956[deg]	[grasp_sample.py: 539]
+05/11 20:42:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:42:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:42:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:33 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:42:33 INFO: [Worker 0] Worker 0 house 1 episode 115 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 20:42:33 INFO: [Worker 0] [PROFILE] Episode 115 house 1 success=False episode_total=2.96s:
+  episode_total: mean=43.11s, total=172.44s, count=4, min=6004.2ms, max=146388.2ms
+  sensor_polling: mean=451.6ms, total=102.51s, count=227, min=298.1ms, max=835.5ms
+  physics_step: mean=26.8ms, total=6.09s, count=227, min=19.8ms, max=67.3ms
+  task_sampling: mean=740.0ms, total=2.96s, count=4, min=575.6ms, max=862.7ms
+  task_specific_sample: mean=736.6ms, total=2.95s, count=4, min=571.2ms, max=859.8ms
+  scene_randomize: mean=1.7ms, total=6.8ms, count=4, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=593.6us, total=2.4ms, count=4, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.3us, 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]
+05/11 20:42:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:42:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:42:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:42:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:42:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:42:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:42:35 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]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100097m	[env.py: 870]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:42:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -92.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38744105 -1.081857   -0.10009652] yaw=-40.7deg	[env.py: 1019]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16083419 -1.06854668 -0.10009652] yaw=-48.4deg	[env.py: 1019]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:42:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=304.1ms, total=304.2ms	[env.py: 1075]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.387, -1.082, -0.100)	[env.py: 1079]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.7 deg	[env.py: 1082]
+05/11 20:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/11 20:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:42:35 INFO: [Worker 0] Worker 0 house 1 episode 116/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:42:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:42:35 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]
+05/11 20:42:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:42:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:42:37 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.701[m] 93.004[deg]	[grasp_sample.py: 539]
+05/11 20:42:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:38 ERROR: [Worker 0] Worker 0 house 1 episode 116 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:42:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:42:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:42:40 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]
+05/11 20:42:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:42:40 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]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180957m	[env.py: 870]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:42:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54657264 -0.82872842 -0.18095713] yaw=-72.8deg	[env.py: 1019]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -101.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46737578 -0.86587572 -0.18095713] yaw=-66.6deg	[env.py: 1019]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:42:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.8ms, total=265.8ms	[env.py: 1075]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.547, -0.829, -0.181)	[env.py: 1079]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg	[env.py: 1082]
+05/11 20:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/11 20:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:42:41 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:42:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:42:41 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]
+05/11 20:42:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:42:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.287s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:42:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:42:48 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]
+05/11 20:42:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:42:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.033s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:42:53 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.523[m] 67.830[deg]	[grasp_sample.py: 539]
+05/11 20:42:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:42:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:42:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:42:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.566s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:42:54 INFO: [Worker 0] Feasible grasp found 17 (originally 17): w/ 0.773[m] 94.016[deg]	[grasp_sample.py: 539]
+05/11 20:42:55 ERROR: [Worker 0] Worker 0 house 1 episode 117 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:42:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:42:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:42:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:42:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:42:56 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]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176893m	[env.py: 870]
+05/11 20:42:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:42:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18918854 -1.03102017 -0.17689282] yaw=-51.6deg	[env.py: 1019]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:42:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=429.7ms, total=429.8ms	[env.py: 1075]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -1.031, -0.177)	[env.py: 1079]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.6 deg	[env.py: 1082]
+05/11 20:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/11 20:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:42:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:42:57 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:42:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:42:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:42:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:42:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:42:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.635s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:42:59 ERROR: [Worker 0] Worker 0 house 1 episode 118 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:43:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:43:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:43:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:43:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:43:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:43:00 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]
+05/11 20:43:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:43:00 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]
+05/11 20:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194224m	[env.py: 870]
+05/11 20:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:43:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:43:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57702403 -0.91926589 -0.19422372] yaw=-58.1deg	[env.py: 1019]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26074586 -1.04334675 -0.19422372] yaw=-53.8deg	[env.py: 1019]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:43:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=561.3ms, total=561.4ms	[env.py: 1075]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.919, -0.194)	[env.py: 1079]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg	[env.py: 1082]
+05/11 20:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/11 20:43:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:43:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:43:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:43:01 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:43:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:43:01 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]
+05/11 20:43:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:43:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.896s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:43:03 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.691[m] 92.078[deg]	[grasp_sample.py: 539]
+05/11 20:43:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:43:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:43:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:43:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:43:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:43:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:43:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:43:12 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.499[m] 66.062[deg]	[grasp_sample.py: 539]
+05/11 20:43:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:43:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:43:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:21 INFO: [Worker 0] Worker 0 house 1 episode 89 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:43:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:43:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:43:28 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]
+05/11 20:43:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:43:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.618s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:43:30 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.499[m] 66.062[deg]	[grasp_sample.py: 539]
+05/11 20:43:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:43:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:43:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:34 INFO: [Worker 0] Worker 0 house 1 episode 92 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:43:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:43:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:43:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:43:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:43:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.018s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:43:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.513[m] 63.036[deg]	[grasp_sample.py: 539]
+05/11 20:43:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:43:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:43:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:43:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:43:46 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:43:46 INFO: [Worker 0] Worker 0 house 1 episode 123 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 20:43:46 INFO: [Worker 0] [PROFILE] Episode 123 house 1 success=False episode_total=4.13s:
+  episode_total: mean=18.26s, total=219.06s, count=12, min=234.7ms, max=102046.4ms
+  sensor_polling: mean=449.0ms, total=106.41s, count=237, min=311.6ms, max=795.3ms
+  physics_step: mean=26.3ms, total=6.24s, count=237, min=13.2ms, max=68.0ms
+  task_specific_sample: mean=476.9ms, total=5.72s, count=12, min=232.0ms, max=742.2ms
+  task_sampling: mean=589.6ms, total=4.13s, count=7, min=491.8ms, max=744.5ms
+  task_sampling_failed: mean=327.2ms, total=1.64s, count=5, min=234.7ms, max=395.9ms
+  scene_randomize: mean=1.4ms, total=17.0ms, count=12, min=0.9ms, max=3.2ms
+  mj_forward_sync: mean=535.1us, total=6.4ms, count=12, min=0.4ms, max=0.7ms
+  policy_setup: mean=13.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:43:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:47 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:43:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:43:47 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/11 20:43:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:43:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:43:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:43:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:43:48 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]
+05/11 20:43:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:43:48 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]
+05/11 20:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177005m	[env.py: 870]
+05/11 20:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:43:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=299.2ms, total=299.2ms	[env.py: 1105]
+05/11 20:43:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:43:48 ERROR: [Worker 0] Worker 0 house 1 episode 124 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:43:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:43:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:43:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:43:50 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]
+05/11 20:43:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:43:50 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]
+05/11 20:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132820m	[env.py: 870]
+05/11 20:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:43:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=656.5ms, total=656.6ms	[env.py: 1105]
+05/11 20:43:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:43:51 ERROR: [Worker 0] Worker 0 house 1 episode 125 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:43:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:43:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:43:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:43:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:43:52 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]
+05/11 20:43:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:43:52 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]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193887m	[env.py: 870]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:43:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28943778 -1.10078635 -0.19388656] yaw=-37.1deg	[env.py: 1019]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41534004 -1.01744778 -0.19388656] yaw=-52.3deg	[env.py: 1019]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46909323 -0.88794901 -0.19388656] yaw=-61.7deg	[env.py: 1019]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:43:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=335.6ms, total=335.6ms	[env.py: 1075]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.101, -0.194)	[env.py: 1079]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.1 deg	[env.py: 1082]
+05/11 20:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/11 20:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:43:53 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:43:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:43:53 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]
+05/11 20:43:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:43:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:43:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.698s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:43:55 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.696[m] 87.392[deg]	[grasp_sample.py: 539]
+05/11 20:43:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:43:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:43:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:43:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:43:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:43:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:43:57 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]
+05/11 20:43:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:43:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:43:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.919s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:43:58 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.513[m] 63.036[deg]	[grasp_sample.py: 539]
+05/11 20:43:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:43:59 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:43:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:43:59 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/11 20:43:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:43:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:44:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:44:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.33s (batch: 3.66s, save: 10.68s)	[pipeline.py: 300]
+05/11 20:44:02 INFO: [Worker 0] [PROFILE] Episode 89 house 1 success=True episode_total=2.11s:
+  episode_total: mean=62.96s, total=188.88s, count=3, min=4578.6ms, max=176638.8ms
+  sensor_polling: mean=447.7ms, total=121.77s, count=272, min=277.1ms, max=785.0ms
+  save_trajectories: mean=10.68s, total=10.68s, count=1, min=10675.7ms, max=10675.7ms
+  physics_step: mean=29.8ms, total=8.11s, count=272, min=19.9ms, max=105.2ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3657.4ms, max=3657.4ms
+  task_sampling: mean=703.0ms, total=2.11s, count=3, min=451.6ms, max=1008.4ms
+  task_specific_sample: mean=699.4ms, total=2.10s, count=3, min=448.9ms, max=1003.7ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.2ms, max=3.2ms
+  mj_forward_sync: mean=560.4us, total=1.7ms, count=3, min=0.5ms, max=0.6ms
+  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=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:04 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]
+05/11 20:44:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188650m	[env.py: 870]
+05/11 20:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=229.4ms, total=229.4ms	[env.py: 1105]
+05/11 20:44:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:44:04 ERROR: [Worker 0] Worker 0 house 1 episode 90 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:44:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:05 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]
+05/11 20:44:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:05 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]
+05/11 20:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199763m	[env.py: 870]
+05/11 20:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=223.6ms, total=223.6ms	[env.py: 1105]
+05/11 20:44:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:44:05 ERROR: [Worker 0] Worker 0 house 1 episode 91 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:44:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:44:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:07 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]
+05/11 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162461m	[env.py: 870]
+05/11 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=203.9ms, total=204.0ms	[env.py: 1105]
+05/11 20:44:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:44:07 ERROR: [Worker 0] Worker 0 house 1 episode 92 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:44:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:08 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]
+05/11 20:44:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:08 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]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151145m	[env.py: 870]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43717369 -1.09401002 -0.15114532] yaw=-45.6deg	[env.py: 1019]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:44:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.3ms, total=216.3ms	[env.py: 1075]
+05/11 20:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.437, -1.094, -0.151)	[env.py: 1079]
+05/11 20:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg	[env.py: 1082]
+05/11 20:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/11 20:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:44:09 INFO: [Worker 0] Worker 0 house 1 episode 93/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:44:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:44:09 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]
+05/11 20:44:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:44:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:44:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.939s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:44:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.655[m] 93.540[deg]	[grasp_sample.py: 539]
+05/11 20:44:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:44:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:44:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:44:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:44:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.06s (batch: 3.53s, save: 10.53s)	[pipeline.py: 300]
+05/11 20:44:13 INFO: [Worker 0] [PROFILE] Episode 92 house 1 success=True episode_total=1.02s:
+  episode_total: mean=87.06s, total=174.11s, count=2, min=2522.5ms, max=171591.4ms
+  sensor_polling: mean=463.9ms, total=119.22s, count=257, min=318.5ms, max=828.4ms
+  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10525.6ms, max=10525.6ms
+  physics_step: mean=29.6ms, total=7.61s, count=257, min=20.0ms, max=67.1ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3529.9ms, max=3529.9ms
+  task_sampling: mean=508.6ms, total=1.02s, count=2, min=419.3ms, max=597.9ms
+  task_specific_sample: mean=504.5ms, total=1.01s, count=2, min=415.4ms, max=593.6ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.0ms, max=2.8ms
+  mj_forward_sync: mean=585.6us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=13.2us, 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]
+05/11 20:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:44:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:44:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:44:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:44:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:44:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:44:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:15 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]
+05/11 20:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182853m	[env.py: 870]
+05/11 20:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.182s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:44:15 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.513[m] 63.036[deg]	[grasp_sample.py: 539]
+05/11 20:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:44:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=210.2ms, total=210.3ms	[env.py: 1105]
+05/11 20:44:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:44:15 ERROR: [Worker 0] Worker 0 house 1 episode 93 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:44:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:44:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:44:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:44:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:17 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]
+05/11 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103626m	[env.py: 870]
+05/11 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=250.6ms, total=250.7ms	[env.py: 1105]
+05/11 20:44:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:44:17 ERROR: [Worker 0] Worker 0 house 1 episode 94 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:18 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]
+05/11 20:44:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:18 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]
+05/11 20:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128500m	[env.py: 870]
+05/11 20:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39461324 -0.88995109 -0.12850032] yaw=-51.1deg	[env.py: 1019]
+05/11 20:44:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40965034 -1.04167044 -0.12850032] yaw=-60.0deg	[env.py: 1019]
+05/11 20:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:44:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=290.3ms, total=290.4ms	[env.py: 1075]
+05/11 20:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -0.890, -0.129)	[env.py: 1079]
+05/11 20:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg	[env.py: 1082]
+05/11 20:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/11 20:44:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:44:19 INFO: [Worker 0] Worker 0 house 1 episode 95/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:44:19 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]
+05/11 20:44:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:44:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:44:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:44:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:44:30 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:44:30 INFO: [Worker 0] Worker 0 house 1 episode 119 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 20:44:30 INFO: [Worker 0] [PROFILE] Episode 119 house 1 success=False episode_total=2.63s:
+  episode_total: mean=27.79s, total=111.14s, count=4, min=2559.0ms, max=89986.5ms
+  sensor_polling: mean=466.0ms, total=37.28s, count=80, min=330.9ms, max=672.6ms
+  task_sampling: mean=658.7ms, total=2.63s, count=4, min=554.7ms, max=763.1ms
+  task_specific_sample: mean=655.4ms, total=2.62s, count=4, min=550.0ms, max=760.4ms
+  physics_step: mean=24.7ms, total=1.97s, count=80, min=13.4ms, max=54.0ms
+  scene_randomize: mean=1.4ms, total=5.7ms, count=4, min=1.1ms, max=1.9ms
+  mj_forward_sync: mean=561.6us, total=2.2ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=11.5us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:44:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:32 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]
+05/11 20:44:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:32 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]
+05/11 20:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135388m	[env.py: 870]
+05/11 20:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=519.6ms, total=519.6ms	[env.py: 1105]
+05/11 20:44:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:44:33 ERROR: [Worker 0] Worker 0 house 1 episode 120 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:44:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:34 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]
+05/11 20:44:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:34 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]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176901m	[env.py: 870]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1680825  -0.98585075 -0.17690113] yaw=-47.7deg	[env.py: 1019]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.57778426 -0.94369908 -0.17690113] yaw=-66.4deg	[env.py: 1019]
+05/11 20:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:44:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=727.0ms, total=727.0ms	[env.py: 1075]
+05/11 20:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -0.986, -0.177)	[env.py: 1079]
+05/11 20:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.7 deg	[env.py: 1082]
+05/11 20:44:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/11 20:44:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:44:35 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:44:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:44:35 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]
+05/11 20:44:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:44:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:44:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.625s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:44:37 ERROR: [Worker 0] Worker 0 house 1 episode 121 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:44:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:38 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]
+05/11 20:44:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:38 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]
+05/11 20:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185534m	[env.py: 870]
+05/11 20:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=449.6ms, total=449.7ms	[env.py: 1105]
+05/11 20:44:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:44:39 ERROR: [Worker 0] Worker 0 house 1 episode 122 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:44:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:40 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]
+05/11 20:44:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139121m	[env.py: 870]
+05/11 20:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36416415 -1.17696606 -0.13912136] yaw=-53.3deg	[env.py: 1019]
+05/11 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:44:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=601.2ms, total=601.2ms	[env.py: 1075]
+05/11 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -1.177, -0.139)	[env.py: 1079]
+05/11 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg	[env.py: 1082]
+05/11 20:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/11 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:44:41 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:44:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:44:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:44:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:44:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.175s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:44:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.075s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:44:46 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.655[m] 88.256[deg]	[grasp_sample.py: 539]
+05/11 20:44:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:44:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:44:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:44:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:44:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 31.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:44:51 ERROR: [Worker 0] Worker 0 house 1 episode 95 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 20:44:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:44:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119624m	[env.py: 870]
+05/11 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=281.5ms, total=281.5ms	[env.py: 1105]
+05/11 20:44:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:44:53 ERROR: [Worker 0] Worker 0 house 1 episode 96 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:44:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:44:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:44:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:44:55 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]
+05/11 20:44:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:44:55 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]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106142m	[env.py: 870]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:44:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43016964 -1.0667618  -0.10614226] yaw=-53.5deg	[env.py: 1019]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:44:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=349.0ms, total=349.1ms	[env.py: 1075]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -1.067, -0.106)	[env.py: 1079]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg	[env.py: 1082]
+05/11 20:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/11 20:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:44:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:44:55 INFO: [Worker 0] Worker 0 house 1 episode 97/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:44:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:44:55 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]
+05/11 20:44:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:44:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:45:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:45:00 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.698[m] 91.584[deg]	[grasp_sample.py: 539]
+05/11 20:45:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:45:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:45:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:45:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:45:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:45:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:45:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:45:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:45:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:45:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:45:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:46:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:46:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:46:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:46:12 INFO: [Worker 0] Worker 0 house 1 episode 126 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:46:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:46:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:46:31 INFO: [Worker 0] Worker 0 house 1 episode 93 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:46:40 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:46:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:46:40 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/11 20:46:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:46:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:46:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.84s (batch: 4.41s, save: 10.42s)	[pipeline.py: 300]
+05/11 20:46:55 INFO: [Worker 0] [PROFILE] Episode 126 house 1 success=True episode_total=0.62s:
+  episode_total: mean=61.44s, total=184.31s, count=3, min=311.9ms, max=183327.1ms
+  sensor_polling: mean=456.5ms, total=125.99s, count=276, min=316.1ms, max=802.7ms
+  save_trajectories: mean=10.42s, total=10.42s, count=1, min=10424.5ms, max=10424.5ms
+  physics_step: mean=28.9ms, total=7.99s, count=276, min=19.9ms, max=100.7ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.7ms, max=4413.7ms
+  task_specific_sample: mean=527.4ms, total=1.58s, count=3, min=306.1ms, max=663.6ms
+  task_sampling_failed: mean=490.1ms, total=980.1ms, count=2, min=311.9ms, max=668.2ms
+  task_sampling: mean=615.0ms, total=615.0ms, count=1, min=615.0ms, max=615.0ms
+  scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=1.2ms, max=1.5ms
+  mj_forward_sync: mean=605.9us, total=1.8ms, count=3, min=0.6ms, max=0.7ms
+  policy_setup: mean=13.8us, 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]
+05/11 20:46:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:46:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:46:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:46:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:46:57 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]
+05/11 20:46:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:46:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166004m	[env.py: 870]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:46:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48343226 -0.83703135 -0.16600448] yaw=-56.8deg	[env.py: 1019]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51567548 -0.90259468 -0.16600448] yaw=-72.8deg	[env.py: 1019]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:46:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=226.2ms, total=226.3ms	[env.py: 1075]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -0.837, -0.166)	[env.py: 1079]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.8 deg	[env.py: 1082]
+05/11 20:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/11 20:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:46:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:46:57 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:46:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:46:57 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]
+05/11 20:46:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:46:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:46:59 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:46:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:46:59 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/11 20:47:02 INFO: [Worker 0] Worker 0 house 1 episode 123 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:47:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:47:03 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.763[m] 84.320[deg]	[grasp_sample.py: 539]
+05/11 20:47:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:47:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:47:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:47:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:47:11 INFO: [Worker 0] Worker 0 house 1 episode 97 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:47:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:47:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:47:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.73s (batch: 3.92s, save: 10.81s)	[pipeline.py: 300]
+05/11 20:47:14 INFO: [Worker 0] [PROFILE] Episode 93 house 1 success=True episode_total=0.53s:
+  episode_total: mean=46.59s, total=186.38s, count=4, min=211.5ms, max=185689.7ms
+  sensor_polling: mean=467.2ms, total=125.20s, count=268, min=325.4ms, max=793.3ms
+  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10814.3ms, max=10814.3ms
+  physics_step: mean=28.7ms, total=7.68s, count=268, min=19.8ms, max=60.6ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.6ms, max=3920.6ms
+  task_specific_sample: mean=300.2ms, total=1.20s, count=4, min=208.7ms, max=526.4ms
+  task_sampling_failed: mean=228.5ms, total=685.6ms, count=3, min=211.5ms, max=242.7ms
+  task_sampling: mean=528.6ms, total=528.6ms, count=1, min=528.6ms, max=528.6ms
+  scene_randomize: mean=1.4ms, total=5.7ms, count=4, min=1.0ms, max=2.8ms
+  mj_forward_sync: mean=427.0us, total=1.7ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, 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]
+05/11 20:47:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:47:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:16 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]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166435m	[env.py: 870]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15635109 -1.08239389 -0.16643466] yaw=-44.9deg	[env.py: 1019]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=201.0ms, total=201.1ms	[env.py: 1075]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -1.082, -0.166)	[env.py: 1079]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg	[env.py: 1082]
+05/11 20:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/11 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:16 INFO: [Worker 0] Worker 0 house 1 episode 94/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:47:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.934s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:47:18 ERROR: [Worker 0] Worker 0 house 1 episode 94 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:47:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:20 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]
+05/11 20:47:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116145m	[env.py: 870]
+05/11 20:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=223.2ms, total=223.3ms	[env.py: 1105]
+05/11 20:47:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:47:20 ERROR: [Worker 0] Worker 0 house 1 episode 95 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:47:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:22 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]
+05/11 20:47:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:22 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]
+05/11 20:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199910m	[env.py: 870]
+05/11 20:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=245.4ms, total=245.4ms	[env.py: 1105]
+05/11 20:47:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:47:22 ERROR: [Worker 0] Worker 0 house 1 episode 96 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:47:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:23 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]
+05/11 20:47:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:23 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]
+05/11 20:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129278m	[env.py: 870]
+05/11 20:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49229145 -0.89480329 -0.12927791] yaw=-70.1deg	[env.py: 1019]
+05/11 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=222.4ms, total=222.5ms	[env.py: 1075]
+05/11 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.492, -0.895, -0.129)	[env.py: 1079]
+05/11 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.1 deg	[env.py: 1082]
+05/11 20:47:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/11 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:24 INFO: [Worker 0] Worker 0 house 1 episode 97/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:47:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:27 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:47:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:47:27 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/11 20:47:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.545s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:47:28 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.722[m] 95.209[deg]	[grasp_sample.py: 539]
+05/11 20:47:29 ERROR: [Worker 0] Worker 0 house 1 episode 97 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:47:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:47:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:30 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]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121278m	[env.py: 870]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=241.2ms, total=241.2ms	[env.py: 1105]
+05/11 20:47:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:47:30 ERROR: [Worker 0] Worker 0 house 1 episode 98 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:47:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:47:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:32 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]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129885m	[env.py: 870]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38325753 -0.96444409 -0.12988478] yaw=-47.7deg	[env.py: 1019]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.7ms, total=256.7ms	[env.py: 1075]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -0.964, -0.130)	[env.py: 1079]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.7 deg	[env.py: 1082]
+05/11 20:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/11 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:32 INFO: [Worker 0] Worker 0 house 1 episode 99/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:32 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]
+05/11 20:47:32 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:47:34 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.760[m] 90.052[deg]	[grasp_sample.py: 539]
+05/11 20:47:36 ERROR: [Worker 0] Worker 0 house 1 episode 99 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:47:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:47:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145933m	[env.py: 870]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.58337777 -0.72969135 -0.14593328] yaw=-65.8deg	[env.py: 1019]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=286.4ms, total=286.5ms	[env.py: 1075]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -0.730, -0.146)	[env.py: 1079]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg	[env.py: 1082]
+05/11 20:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/11 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:38 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:47:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:47:38 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/11 20:47:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:38 INFO: [Worker 0] Worker 0 house 1 episode 100/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:38 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]
+05/11 20:47:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.189s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.630s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:47:40 ERROR: [Worker 0] Worker 0 house 1 episode 100 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:47:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:41 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]
+05/11 20:47:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:41 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]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196834m	[env.py: 870]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50031237 -1.00421522 -0.19683378] yaw=-49.8deg	[env.py: 1019]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=298.4ms, total=298.5ms	[env.py: 1075]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.500, -1.004, -0.197)	[env.py: 1079]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg	[env.py: 1082]
+05/11 20:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/11 20:47:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:42 INFO: [Worker 0] Worker 0 house 1 episode 101/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:42 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]
+05/11 20:47:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:47:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:47:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.28s (batch: 3.39s, save: 10.89s)	[pipeline.py: 300]
+05/11 20:47:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:42 INFO: [Worker 0] [PROFILE] Episode 123 house 1 success=True episode_total=1.95s:
+  episode_total: mean=46.52s, total=186.09s, count=4, min=467.2ms, max=182150.0ms
+  sensor_polling: mean=468.6ms, total=124.65s, count=266, min=318.1ms, max=777.5ms
+  save_trajectories: mean=10.89s, total=10.89s, count=1, min=10891.5ms, max=10891.5ms
+  physics_step: mean=28.9ms, total=7.69s, count=266, min=20.0ms, max=80.4ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3385.3ms, max=3385.3ms
+  task_specific_sample: mean=732.3ms, total=2.93s, count=4, min=457.2ms, max=1065.6ms
+  task_sampling: mean=976.2ms, total=1.95s, count=2, min=882.8ms, max=1069.5ms
+  task_sampling_failed: mean=500.4ms, total=1.00s, count=2, min=467.2ms, max=533.6ms
+  scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=1.3ms, max=1.6ms
+  mj_forward_sync: mean=612.7us, total=2.5ms, count=4, min=0.6ms, max=0.6ms
+  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:47:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:47:43 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.652[m] 92.832[deg]	[grasp_sample.py: 539]
+05/11 20:47:44 ERROR: [Worker 0] Worker 0 house 1 episode 101 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:47:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:47:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:44 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]
+05/11 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117503m	[env.py: 870]
+05/11 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=356.8ms, total=356.9ms	[env.py: 1105]
+05/11 20:47:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:47:44 ERROR: [Worker 0] Worker 0 house 1 episode 124 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:47:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:45 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]
+05/11 20:47:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194443m	[env.py: 870]
+05/11 20:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=232.2ms, total=232.3ms	[env.py: 1105]
+05/11 20:47:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:47:46 ERROR: [Worker 0] Worker 0 house 1 episode 102 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:47:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:46 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]
+05/11 20:47:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:46 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]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150023m	[env.py: 870]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16747348 -1.00614526 -0.15002323] yaw=-53.3deg	[env.py: 1019]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46854443 -0.89091247 -0.15002323] yaw=-67.1deg	[env.py: 1019]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46761039 -0.94056207 -0.15002323] yaw=-51.6deg	[env.py: 1019]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=137.4ms, total=137.5ms	[env.py: 1075]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.167, -1.006, -0.150)	[env.py: 1079]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg	[env.py: 1082]
+05/11 20:47:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/11 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:47 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:47 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]
+05/11 20:47:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:47 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]
+05/11 20:47:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:47 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]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190211m	[env.py: 870]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.20461393 -1.07529152 -0.19021058] yaw=-50.8deg	[env.py: 1019]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=295.1ms, total=295.2ms	[env.py: 1075]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.205, -1.075, -0.190)	[env.py: 1079]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg	[env.py: 1082]
+05/11 20:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/11 20:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:48 INFO: [Worker 0] Worker 0 house 1 episode 103/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:48 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]
+05/11 20:47:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.846s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:47:49 ERROR: [Worker 0] Worker 0 house 1 episode 125 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:47:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:50 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]
+05/11 20:47:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155294m	[env.py: 870]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.17692044 -0.99464769 -0.15529357] yaw=-54.3deg	[env.py: 1019]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:50 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]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -0.995, -0.155)	[env.py: 1079]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg	[env.py: 1082]
+05/11 20:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/11 20:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:51 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:51 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]
+05/11 20:47:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.819s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:47:53 ERROR: [Worker 0] Worker 0 house 1 episode 126 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:47:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.991s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:47:53 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.697[m] 79.686[deg]	[grasp_sample.py: 539]
+05/11 20:47:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:47:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:47:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.18s (batch: 4.76s, save: 11.41s)	[pipeline.py: 300]
+05/11 20:47:54 ERROR: [Worker 0] Worker 0 house 1 episode 103 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:47:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:54 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]
+05/11 20:47:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:54 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]
+05/11 20:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100664m	[env.py: 870]
+05/11 20:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=301.3ms, total=301.4ms	[env.py: 1105]
+05/11 20:47:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:47:54 ERROR: [Worker 0] Worker 0 house 1 episode 127 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:47:55 INFO: [Worker 0] [PROFILE] Episode 97 house 1 success=True episode_total=1.19s:
+  episode_total: mean=42.68s, total=213.39s, count=5, min=219.9ms, max=180067.6ms
+  sensor_polling: mean=442.0ms, total=121.10s, count=274, min=292.6ms, max=816.4ms
+  save_trajectories: mean=11.41s, total=11.41s, count=1, min=11413.3ms, max=11413.3ms
+  physics_step: mean=27.6ms, total=7.56s, count=274, min=20.1ms, max=99.3ms
+  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4764.1ms, max=4764.1ms
+  task_specific_sample: mean=388.7ms, total=1.94s, count=5, min=216.0ms, max=608.1ms
+  task_sampling: mean=593.7ms, total=1.19s, count=2, min=576.6ms, max=610.8ms
+  task_sampling_failed: mean=258.4ms, total=775.1ms, count=3, min=219.9ms, max=294.6ms
+  scene_randomize: mean=1.7ms, total=8.5ms, count=5, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=557.8us, total=2.8ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:47:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:56 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]
+05/11 20:47:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:56 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]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102696m	[env.py: 870]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=342.3ms, total=342.4ms	[env.py: 1105]
+05/11 20:47:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:47:56 ERROR: [Worker 0] Worker 0 house 1 episode 104 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:47:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:56 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]
+05/11 20:47:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:56 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]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110743m	[env.py: 870]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32917135 -0.88966301 -0.11074306] yaw=-51.3deg	[env.py: 1019]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45295334 -0.95737262 -0.11074306] yaw=-59.3deg	[env.py: 1019]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.45663309 -1.09701025 -0.11074306] yaw=-51.6deg	[env.py: 1019]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.5ms, total=175.6ms	[env.py: 1075]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -0.890, -0.111)	[env.py: 1079]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg	[env.py: 1082]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:56 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]
+05/11 20:47:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:56 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]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123416m	[env.py: 870]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:56 INFO: [Worker 0] Worker 0 house 1 episode 98/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:57 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]
+05/11 20:47:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51662991 -0.88591271 -0.12341573] yaw=-54.3deg	[env.py: 1019]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=374.9ms, total=374.9ms	[env.py: 1075]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.517, -0.886, -0.123)	[env.py: 1079]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg	[env.py: 1082]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/11 20:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:57 INFO: [Worker 0] Worker 0 house 1 episode 128/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:57 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]
+05/11 20:47:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:47:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:47:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:47:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:47:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:47:57 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]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168588m	[env.py: 870]
+05/11 20:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:47:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.59373926 -1.01118749 -0.16858828] yaw=-63.2deg	[env.py: 1019]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:47:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=404.3ms, total=404.3ms	[env.py: 1075]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -1.011, -0.169)	[env.py: 1079]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.2 deg	[env.py: 1082]
+05/11 20:47:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/11 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:47:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:47:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:47:58 INFO: [Worker 0] Worker 0 house 1 episode 105/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:47:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:47:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:47:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:47:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:47:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.964s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:47:59 ERROR: [Worker 0] Worker 0 house 1 episode 98 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:47:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:47:59 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.576[m] 88.124[deg]	[grasp_sample.py: 539]
+05/11 20:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:48:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.454s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:48:00 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.761[m] 91.645[deg]	[grasp_sample.py: 539]
+05/11 20:48:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:48:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:48:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:48:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:48:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:48:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:48:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:48:00 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]
+05/11 20:48:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:48:00 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]
+05/11 20:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152846m	[env.py: 870]
+05/11 20:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:48:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:48:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3654598  -0.81532002 -0.15284564] yaw=-66.8deg	[env.py: 1019]
+05/11 20:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:48:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=391.7ms, total=391.8ms	[env.py: 1075]
+05/11 20:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -0.815, -0.153)	[env.py: 1079]
+05/11 20:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.8 deg	[env.py: 1082]
+05/11 20:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/11 20:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:48:01 INFO: [Worker 0] Worker 0 house 1 episode 99/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:48:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:48:01 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]
+05/11 20:48:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:48:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:48:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:48:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.763s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:48:03 ERROR: [Worker 0] Worker 0 house 1 episode 99 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:48:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:48:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:48:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:48:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:48:04 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]
+05/11 20:48:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:48:04 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]
+05/11 20:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107783m	[env.py: 870]
+05/11 20:48:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:48:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=432.0ms, total=432.0ms	[env.py: 1105]
+05/11 20:48:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:48:05 ERROR: [Worker 0] Worker 0 house 1 episode 100 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:48:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:48:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:48:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:48:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:48:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:48:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:48:06 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]
+05/11 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192077m	[env.py: 870]
+05/11 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:48:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2524144  -1.0710255  -0.19207714] yaw=-51.4deg	[env.py: 1019]
+05/11 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:48:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=320.0ms, total=320.1ms	[env.py: 1075]
+05/11 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.252, -1.071, -0.192)	[env.py: 1079]
+05/11 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg	[env.py: 1082]
+05/11 20:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/11 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:48:07 INFO: [Worker 0] Worker 0 house 1 episode 101/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:48:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:48:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:48:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:48:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:48:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:48:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.723[m] 79.092[deg]	[grasp_sample.py: 539]
+05/11 20:48:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:48:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:48:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:48:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:48:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:48:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:48:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:48:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:48:34 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]
+05/11 20:48:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:48:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:48:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.985s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:48:35 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.424[m] 60.138[deg]	[grasp_sample.py: 539]
+05/11 20:48:37 ERROR: [Worker 0] Worker 0 house 1 episode 105 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:48:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:48:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:48:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:48:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:48:38 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]
+05/11 20:48:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:48:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:48:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:48:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:48:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157269m	[env.py: 870]
+05/11 20:48:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:48:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20977288 -0.96857449 -0.15726944] yaw=-42.1deg	[env.py: 1019]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:48:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=306.7ms, total=306.8ms	[env.py: 1075]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.210, -0.969, -0.157)	[env.py: 1079]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg	[env.py: 1082]
+05/11 20:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/11 20:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:48:39 INFO: [Worker 0] Worker 0 house 1 episode 106/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:48:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:48:39 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]
+05/11 20:48:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:48:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:48:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.966s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:48:41 ERROR: [Worker 0] Worker 0 house 1 episode 106 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:48:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:48:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:48:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:48:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:48:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:48:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:48:43 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]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150638m	[env.py: 870]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:48:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35117153 -0.86529441 -0.15063814] yaw=-47.1deg	[env.py: 1019]
+05/11 20:48:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:48:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=604.7ms, total=604.8ms	[env.py: 1075]
+05/11 20:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.351, -0.865, -0.151)	[env.py: 1079]
+05/11 20:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.1 deg	[env.py: 1082]
+05/11 20:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/11 20:48:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:48:44 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:48:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:48:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:48:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:48:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:48:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.704s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:48:46 ERROR: [Worker 0] Worker 0 house 1 episode 107 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:48:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:48:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:48:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:48:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:48:47 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]
+05/11 20:48:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:48:47 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]
+05/11 20:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172448m	[env.py: 870]
+05/11 20:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:48:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=693.9ms, total=694.0ms	[env.py: 1105]
+05/11 20:48:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:48:48 ERROR: [Worker 0] Worker 0 house 1 episode 108 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:48:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:48:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:48:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:48:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:48:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:48:49 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]
+05/11 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171690m	[env.py: 870]
+05/11 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:48:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=635.1ms, total=635.2ms	[env.py: 1105]
+05/11 20:48:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:48:50 ERROR: [Worker 0] Worker 0 house 1 episode 109 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:48:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:48:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:48:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:48:52 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]
+05/11 20:48:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:48:52 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]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155220m	[env.py: 870]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:48:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36199911 -1.02064063 -0.15522011] yaw=-61.0deg	[env.py: 1019]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43524303 -0.9971519  -0.15522011] yaw=-49.3deg	[env.py: 1019]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:48:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=558.7ms, total=558.8ms	[env.py: 1075]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -1.021, -0.155)	[env.py: 1079]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg	[env.py: 1082]
+05/11 20:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/11 20:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:48:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:48:52 INFO: [Worker 0] Worker 0 house 1 episode 110/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:48:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:48:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:48:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:48:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:48:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.294s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:48:58 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.704[m] 87.499[deg]	[grasp_sample.py: 539]
+05/11 20:48:59 ERROR: [Worker 0] Worker 0 house 1 episode 110 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:49:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:01 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]
+05/11 20:49:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:01 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]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139798m	[env.py: 870]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41591856 -0.85521139 -0.13979796] yaw=-57.0deg	[env.py: 1019]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:01 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]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.416, -0.855, -0.140)	[env.py: 1079]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg	[env.py: 1082]
+05/11 20:49:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/11 20:49:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:01 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:01 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]
+05/11 20:49:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.323s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:11 ERROR: [Worker 0] Worker 0 house 1 episode 111 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 20:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:12 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]
+05/11 20:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:12 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]
+05/11 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114418m	[env.py: 870]
+05/11 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=237.8ms, total=237.8ms	[env.py: 1105]
+05/11 20:49:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:49:12 ERROR: [Worker 0] Worker 0 house 1 episode 112 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:49:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:14 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]
+05/11 20:49:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:14 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]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130593m	[env.py: 870]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29591322 -0.94399045 -0.13059289] yaw=-46.1deg	[env.py: 1019]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=280.4ms, total=280.4ms	[env.py: 1075]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -0.944, -0.131)	[env.py: 1079]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg	[env.py: 1082]
+05/11 20:49:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/11 20:49:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:15 INFO: [Worker 0] Worker 0 house 1 episode 113/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:15 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]
+05/11 20:49:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.727s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:49:17 ERROR: [Worker 0] Worker 0 house 1 episode 113 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:49:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:49:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161385m	[env.py: 870]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41380312 -0.8390547  -0.16138472] yaw=-65.8deg	[env.py: 1019]
+05/11 20:49:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=293.4ms, total=293.5ms	[env.py: 1075]
+05/11 20:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.414, -0.839, -0.161)	[env.py: 1079]
+05/11 20:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg	[env.py: 1082]
+05/11 20:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/11 20:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:19 INFO: [Worker 0] Worker 0 house 1 episode 114/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:49:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:49:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.737s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:49:21 ERROR: [Worker 0] Worker 0 house 1 episode 114 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:49:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:49:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:49:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:22 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]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116147m	[env.py: 870]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08322447 -1.05472868 -0.11614711] yaw=-31.2deg	[env.py: 1019]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=280.9ms, total=280.9ms	[env.py: 1075]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.083, -1.055, -0.116)	[env.py: 1079]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.2 deg	[env.py: 1082]
+05/11 20:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/11 20:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:23 INFO: [Worker 0] Worker 0 house 1 episode 115/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:49:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:49:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:49:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.746s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:49:25 ERROR: [Worker 0] Worker 0 house 1 episode 115 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:49:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.939s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:25 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.127[m] 11.051[deg]	[grasp_sample.py: 539]
+05/11 20:49:26 INFO: [Worker 0] Worker 0 house 1 episode 127 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:49:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:26 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]
+05/11 20:49:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:26 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]
+05/11 20:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102272m	[env.py: 870]
+05/11 20:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.2ms, retries=443.3ms, total=443.5ms	[env.py: 1105]
+05/11 20:49:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:49:27 ERROR: [Worker 0] Worker 0 house 1 episode 116 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:49:27 ERROR: [Worker 0] Worker 0 house 1 episode 128 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:28 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]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160172m	[env.py: 870]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32206763 -1.180795   -0.16017167] yaw=-31.3deg	[env.py: 1019]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:28 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]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180519m	[env.py: 870]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42715334 -0.99347628 -0.16017167] yaw=-50.7deg	[env.py: 1019]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=469.9ms, total=469.9ms	[env.py: 1075]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.181, -0.160)	[env.py: 1079]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.3 deg	[env.py: 1082]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/11 20:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=403.6ms, total=403.7ms	[env.py: 1105]
+05/11 20:49:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:49:29 ERROR: [Worker 0] Worker 0 house 1 episode 129 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:49:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:29 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:29 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]
+05/11 20:49:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:30 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]
+05/11 20:49:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:30 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]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159651m	[env.py: 870]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27410929 -1.16155906 -0.15965088] yaw=-32.3deg	[env.py: 1019]
+05/11 20:49:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36157736 -0.85524239 -0.15965088] yaw=-58.2deg	[env.py: 1019]
+05/11 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=248.4ms, total=248.4ms	[env.py: 1075]
+05/11 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -1.162, -0.160)	[env.py: 1079]
+05/11 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.3 deg	[env.py: 1082]
+05/11 20:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/11 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:31 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.675[m] 93.587[deg]	[grasp_sample.py: 539]
+05/11 20:49:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:31 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:31 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]
+05/11 20:49:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:49:32 ERROR: [Worker 0] Worker 0 house 1 episode 117 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:49:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.615s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:33 INFO: [Worker 0] Feasible grasp found 357 (originally 357): w/ 0.653[m] 79.618[deg]	[grasp_sample.py: 539]
+05/11 20:49:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:34 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]
+05/11 20:49:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:34 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]
+05/11 20:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116093m	[env.py: 870]
+05/11 20:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:34 ERROR: [Worker 0] Worker 0 house 1 episode 130 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=251.0ms, total=251.1ms	[env.py: 1105]
+05/11 20:49:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:49:34 ERROR: [Worker 0] Worker 0 house 1 episode 118 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:49:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:35 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]
+05/11 20:49:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:35 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]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148829m	[env.py: 870]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:35 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]
+05/11 20:49:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:35 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]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117565m	[env.py: 870]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4287355  -1.11170215 -0.11756508] yaw=-59.8deg	[env.py: 1019]
+05/11 20:49:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=592.2ms, total=592.2ms	[env.py: 1105]
+05/11 20:49:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:36 ERROR: [Worker 0] Worker 0 house 1 episode 131 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=752.5ms, total=752.6ms	[env.py: 1075]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -1.112, -0.118)	[env.py: 1079]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg	[env.py: 1082]
+05/11 20:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/11 20:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:49:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:36 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:36 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]
+05/11 20:49:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:38 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]
+05/11 20:49:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:38 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]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198710m	[env.py: 870]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23443991 -1.16913069 -0.19871032] yaw=-29.7deg	[env.py: 1019]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=277.0ms, total=277.1ms	[env.py: 1075]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.234, -1.169, -0.199)	[env.py: 1079]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.7 deg	[env.py: 1082]
+05/11 20:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/11 20:49:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:38 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:38 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]
+05/11 20:49:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.825s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:40 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.689[m] 92.703[deg]	[grasp_sample.py: 539]
+05/11 20:49:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.641[m] 86.231[deg]	[grasp_sample.py: 539]
+05/11 20:49:42 ERROR: [Worker 0] Worker 0 house 1 episode 132 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:49:42 ERROR: [Worker 0] Worker 0 house 1 episode 119 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:49:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:44 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]
+05/11 20:49:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:44 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]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103000m	[env.py: 870]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:44 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]
+05/11 20:49:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:44 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]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196545m	[env.py: 870]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23061321 -1.04432535 -0.19654468] yaw=-32.7deg	[env.py: 1019]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=458.7ms, total=458.8ms	[env.py: 1105]
+05/11 20:49:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:49:44 ERROR: [Worker 0] Worker 0 house 1 episode 133 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=243.8ms, total=243.8ms	[env.py: 1075]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -1.044, -0.197)	[env.py: 1079]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.7 deg	[env.py: 1082]
+05/11 20:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:44 INFO: [Worker 0] Worker 0 house 1 episode 120/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:44 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]
+05/11 20:49:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:46 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]
+05/11 20:49:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:46 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]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102975m	[env.py: 870]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50830511 -0.98760084 -0.10297492] yaw=-57.9deg	[env.py: 1019]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=264.0ms, total=264.0ms	[env.py: 1075]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -0.988, -0.103)	[env.py: 1079]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg	[env.py: 1082]
+05/11 20:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/11 20:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.570s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:46 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.746[m] 83.113[deg]	[grasp_sample.py: 539]
+05/11 20:49:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:46 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:46 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]
+05/11 20:49:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:47 ERROR: [Worker 0] Worker 0 house 1 episode 120 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:49:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:48 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]
+05/11 20:49:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:48 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]
+05/11 20:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189917m	[env.py: 870]
+05/11 20:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.50297024 -1.01210243 -0.18991677] yaw=-58.1deg	[env.py: 1019]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40301516 -1.03517923 -0.18991677] yaw=-40.9deg	[env.py: 1019]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=291.6ms, total=291.7ms	[env.py: 1075]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -1.012, -0.190)	[env.py: 1079]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg	[env.py: 1082]
+05/11 20:49:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/11 20:49:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:49 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:49 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]
+05/11 20:49:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.956s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:49 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.703[m] 95.660[deg]	[grasp_sample.py: 539]
+05/11 20:49:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.948s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.649[m] 88.664[deg]	[grasp_sample.py: 539]
+05/11 20:49:51 ERROR: [Worker 0] Worker 0 house 1 episode 134 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:49:51 ERROR: [Worker 0] Worker 0 house 1 episode 121 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:49:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:52 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]
+05/11 20:49:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:52 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]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172328m	[env.py: 870]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26330962 -1.07978099 -0.17232757] yaw=-36.6deg	[env.py: 1019]
+05/11 20:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=659.5ms, total=659.6ms	[env.py: 1075]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.263, -1.080, -0.172)	[env.py: 1079]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.6 deg	[env.py: 1082]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/11 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:49:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:53 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]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146877m	[env.py: 870]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:53 INFO: [Worker 0] Worker 0 house 1 episode 135/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:49:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.8ms, total=200.8ms	[env.py: 1105]
+05/11 20:49:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:49:53 ERROR: [Worker 0] Worker 0 house 1 episode 122 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:49:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:49:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:49:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:49:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:49:55 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]
+05/11 20:49:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:49:55 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]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166654m	[env.py: 870]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:49:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30368691 -1.15148554 -0.16665398] yaw=-41.9deg	[env.py: 1019]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:49:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=338.9ms, total=338.9ms	[env.py: 1075]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.151, -0.167)	[env.py: 1079]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg	[env.py: 1082]
+05/11 20:49:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/11 20:49:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:49:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:49:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:49:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:49:55 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:49:55 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:49:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:49:55 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/11 20:49:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:49:55 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]
+05/11 20:49:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:49:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:49:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.365s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:49:59 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.660[m] 83.789[deg]	[grasp_sample.py: 539]
+05/11 20:50:00 ERROR: [Worker 0] Worker 0 house 1 episode 123 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:50:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:02 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]
+05/11 20:50:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:02 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]
+05/11 20:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129031m	[env.py: 870]
+05/11 20:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=209.4ms, total=209.6ms	[env.py: 1105]
+05/11 20:50:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:50:02 ERROR: [Worker 0] Worker 0 house 1 episode 124 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:50:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.537s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:50:03 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.703[m] 92.296[deg]	[grasp_sample.py: 539]
+05/11 20:50:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:04 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]
+05/11 20:50:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:04 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]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178138m	[env.py: 870]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50118946 -0.84778338 -0.17813779] yaw=-53.5deg	[env.py: 1019]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=302.4ms, total=302.5ms	[env.py: 1075]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.501, -0.848, -0.178)	[env.py: 1079]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg	[env.py: 1082]
+05/11 20:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/11 20:50:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:04 ERROR: [Worker 0] Worker 0 house 1 episode 135 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:50:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:50:04 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:50:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:04 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]
+05/11 20:50:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:06 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]
+05/11 20:50:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:06 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]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185884m	[env.py: 870]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37907684 -0.97891878 -0.18588398] yaw=-49.3deg	[env.py: 1019]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=237.0ms, total=237.1ms	[env.py: 1075]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.379, -0.979, -0.186)	[env.py: 1079]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg	[env.py: 1082]
+05/11 20:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/11 20:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:50:06 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:50:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:06 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]
+05/11 20:50:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.624s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:50:09 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.735[m] 83.928[deg]	[grasp_sample.py: 539]
+05/11 20:50:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:50:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:50:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:50:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:50:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.811s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:50:12 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.726[m] 92.953[deg]	[grasp_sample.py: 539]
+05/11 20:50:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:50:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:50:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.92s (batch: 3.94s, save: 12.98s)	[pipeline.py: 300]
+05/11 20:50:13 INFO: [Worker 0] [PROFILE] Episode 127 house 1 success=True episode_total=0.57s:
+  episode_total: mean=196.35s, total=196.35s, count=1, min=196353.4ms, max=196353.4ms
+  sensor_polling: mean=453.0ms, total=130.47s, count=288, min=312.5ms, max=733.1ms
+  save_trajectories: mean=12.98s, total=12.98s, count=1, min=12975.6ms, max=12975.6ms
+  physics_step: mean=29.5ms, total=8.50s, count=288, min=20.0ms, max=98.3ms
+  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3944.7ms, max=3944.7ms
+  task_sampling: mean=566.3ms, total=566.3ms, count=1, min=566.3ms, max=566.3ms
+  task_specific_sample: mean=561.7ms, total=561.7ms, count=1, min=561.7ms, max=561.7ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=604.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:50:14 ERROR: [Worker 0] Worker 0 house 1 episode 125 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:50:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:14 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]
+05/11 20:50:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:14 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]
+05/11 20:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197982m	[env.py: 870]
+05/11 20:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.19072577 -1.06302492 -0.19798244] yaw=-32.6deg	[env.py: 1019]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=737.7ms, total=737.8ms	[env.py: 1075]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.191, -1.063, -0.198)	[env.py: 1079]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.6 deg	[env.py: 1082]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/11 20:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:50:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105784m	[env.py: 870]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.24275028 -1.00745574 -0.10578368] yaw=-37.6deg	[env.py: 1019]
+05/11 20:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=298.1ms, total=298.1ms	[env.py: 1075]
+05/11 20:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.243, -1.007, -0.106)	[env.py: 1079]
+05/11 20:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.6 deg	[env.py: 1082]
+05/11 20:50:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/11 20:50:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:50:16 INFO: [Worker 0] Worker 0 house 1 episode 128/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:50:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:16 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]
+05/11 20:50:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:50:16 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:50:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:16 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]
+05/11 20:50:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.747s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:50:18 ERROR: [Worker 0] Worker 0 house 1 episode 126 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:50:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:50:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127802m	[env.py: 870]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3507486  -1.02528157 -0.12780223] yaw=-48.2deg	[env.py: 1019]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55503242 -0.85170639 -0.12780223] yaw=-65.1deg	[env.py: 1019]
+05/11 20:50:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=343.1ms, total=343.1ms	[env.py: 1075]
+05/11 20:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.351, -1.025, -0.128)	[env.py: 1079]
+05/11 20:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg	[env.py: 1082]
+05/11 20:50:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/11 20:50:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:50:20 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:50:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:20 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]
+05/11 20:50:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:50:25 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.735[m] 86.039[deg]	[grasp_sample.py: 539]
+05/11 20:50:27 ERROR: [Worker 0] Worker 0 house 1 episode 128 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:50:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.710s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:50:27 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.739[m] 80.373[deg]	[grasp_sample.py: 539]
+05/11 20:50:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:28 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]
+05/11 20:50:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:28 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]
+05/11 20:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137024m	[env.py: 870]
+05/11 20:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:28 ERROR: [Worker 0] Worker 0 house 1 episode 127 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=377.6ms, total=377.7ms	[env.py: 1105]
+05/11 20:50:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:50:28 ERROR: [Worker 0] Worker 0 house 1 episode 129 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:50:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:30 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]
+05/11 20:50:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:30 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]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104416m	[env.py: 870]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16354046 -1.07085585 -0.10441552] yaw=-39.9deg	[env.py: 1019]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:30 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]
+05/11 20:50:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:30 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]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103944m	[env.py: 870]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.3ms	[env.py: 1075]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.164, -1.071, -0.104)	[env.py: 1079]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg	[env.py: 1082]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:50:30 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:50:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:31 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]
+05/11 20:50:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=512.7ms, total=512.8ms	[env.py: 1105]
+05/11 20:50:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:50:31 ERROR: [Worker 0] Worker 0 house 1 episode 128 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:50:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:31 INFO: [Worker 0] Worker 0 house 1 episode 101 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:50:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:32 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]
+05/11 20:50:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:32 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]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131961m	[env.py: 870]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33141091 -1.01579632 -0.13196051] yaw=-60.6deg	[env.py: 1019]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.640s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:50:32 ERROR: [Worker 0] Worker 0 house 1 episode 130 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=812.4ms, total=812.5ms	[env.py: 1075]
+05/11 20:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -1.016, -0.132)	[env.py: 1079]
+05/11 20:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg	[env.py: 1082]
+05/11 20:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/11 20:50:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:50:33 INFO: [Worker 0] Worker 0 house 1 episode 129/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:50:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:33 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]
+05/11 20:50:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:34 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]
+05/11 20:50:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:34 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]
+05/11 20:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149619m	[env.py: 870]
+05/11 20:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=255.6ms, total=255.6ms	[env.py: 1105]
+05/11 20:50:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:50:34 ERROR: [Worker 0] Worker 0 house 1 episode 131 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:50:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.942s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:50:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.703[m] 93.511[deg]	[grasp_sample.py: 539]
+05/11 20:50:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:36 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]
+05/11 20:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:36 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]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178194m	[env.py: 870]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38770455 -1.02918367 -0.17819376] yaw=-45.7deg	[env.py: 1019]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=204.4ms, total=204.4ms	[env.py: 1075]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -1.029, -0.178)	[env.py: 1079]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.7 deg	[env.py: 1082]
+05/11 20:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/11 20:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:50:36 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:50:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:36 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]
+05/11 20:50:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:37 ERROR: [Worker 0] Worker 0 house 1 episode 129 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:50:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:38 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]
+05/11 20:50:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:38 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]
+05/11 20:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165787m	[env.py: 870]
+05/11 20:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=223.4ms, total=223.5ms	[env.py: 1105]
+05/11 20:50:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:50:38 ERROR: [Worker 0] Worker 0 house 1 episode 130 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:50:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:40 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]
+05/11 20:50:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:40 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]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153853m	[env.py: 870]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53492811 -0.79409282 -0.15385262] yaw=-65.2deg	[env.py: 1019]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43798115 -0.76834273 -0.15385262] yaw=-63.2deg	[env.py: 1019]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07925358 -1.08040873 -0.15385262] yaw=-45.6deg	[env.py: 1019]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.3ms	[env.py: 1075]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.535, -0.794, -0.154)	[env.py: 1079]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg	[env.py: 1082]
+05/11 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/11 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:50:40 INFO: [Worker 0] Worker 0 house 1 episode 131/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:50:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:40 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]
+05/11 20:50:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.081s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:50:40 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.668[m] 78.316[deg]	[grasp_sample.py: 539]
+05/11 20:50:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:50:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:50:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:50:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:50:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:50:48 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.802[m] 92.562[deg]	[grasp_sample.py: 539]
+05/11 20:50:49 ERROR: [Worker 0] Worker 0 house 1 episode 131 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:50:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:51 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]
+05/11 20:50:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:51 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]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156261m	[env.py: 870]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40689752 -0.78322777 -0.15626078] yaw=-68.9deg	[env.py: 1019]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23409596 -1.11194116 -0.15626078] yaw=-48.3deg	[env.py: 1019]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:50:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=427.5ms, total=427.5ms	[env.py: 1075]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.407, -0.783, -0.156)	[env.py: 1079]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.9 deg	[env.py: 1082]
+05/11 20:50:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/11 20:50:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:50:52 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:50:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:50:52 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]
+05/11 20:50:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:50:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:50:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.740s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:50:54 ERROR: [Worker 0] Worker 0 house 1 episode 132 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:50:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:55 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]
+05/11 20:50:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:55 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]
+05/11 20:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176615m	[env.py: 870]
+05/11 20:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=564.4ms, total=564.4ms	[env.py: 1105]
+05/11 20:50:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:50:56 ERROR: [Worker 0] Worker 0 house 1 episode 133 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:50:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:50:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:57 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]
+05/11 20:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169932m	[env.py: 870]
+05/11 20:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=451.3ms, total=451.3ms	[env.py: 1105]
+05/11 20:50:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:50:58 ERROR: [Worker 0] Worker 0 house 1 episode 134 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:50:58 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:50:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:50:58 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/11 20:50:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:50:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:50:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:50:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:50:59 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]
+05/11 20:50:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:50:59 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]
+05/11 20:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106629m	[env.py: 870]
+05/11 20:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:50:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=426.3ms, total=426.3ms	[env.py: 1105]
+05/11 20:51:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:51:00 ERROR: [Worker 0] Worker 0 house 1 episode 135 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:51:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:51:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:51:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:51:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:51:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:51:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:51:01 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]
+05/11 20:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138964m	[env.py: 870]
+05/11 20:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:51:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=608.4ms, total=608.4ms	[env.py: 1105]
+05/11 20:51:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:51:02 ERROR: [Worker 0] Worker 0 house 1 episode 136 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:51:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:51:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:51:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:51:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:51:03 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]
+05/11 20:51:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:51:03 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]
+05/11 20:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135105m	[env.py: 870]
+05/11 20:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:51:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=285.2ms, total=285.2ms	[env.py: 1105]
+05/11 20:51:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:51:03 ERROR: [Worker 0] Worker 0 house 1 episode 137 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:51:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:51:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:51:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:51:05 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]
+05/11 20:51:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:51:05 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]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153211m	[env.py: 870]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:51:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40353963 -0.868682   -0.15321139] yaw=-48.6deg	[env.py: 1019]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:51:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=579.1ms, total=579.2ms	[env.py: 1075]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.869, -0.153)	[env.py: 1079]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg	[env.py: 1082]
+05/11 20:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/11 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:51:06 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:51:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:51:06 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]
+05/11 20:51:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:51:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:51:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:51:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:51:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.66s (batch: 4.03s, save: 11.63s)	[pipeline.py: 300]
+05/11 20:51:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:51:14 INFO: [Worker 0] Feasible grasp found 617 (originally 617): w/ 0.799[m] 94.803[deg]	[grasp_sample.py: 539]
+05/11 20:51:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:51:14 INFO: [Worker 0] [PROFILE] Episode 101 house 1 success=True episode_total=1.71s:
+  episode_total: mean=48.40s, total=193.62s, count=4, min=442.1ms, max=187828.2ms
+  sensor_polling: mean=466.1ms, total=128.65s, count=276, min=316.2ms, max=805.0ms
+  save_trajectories: mean=11.63s, total=11.63s, count=1, min=11625.2ms, max=11625.2ms
+  physics_step: mean=30.4ms, total=8.38s, count=276, min=20.0ms, max=104.8ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4030.5ms, max=4030.5ms
+  task_specific_sample: mean=535.3ms, total=2.14s, count=4, min=438.4ms, max=680.9ms
+  task_sampling: mean=570.8ms, total=1.71s, count=3, min=455.4ms, max=684.4ms
+  task_sampling_failed: mean=442.0ms, total=442.0ms, count=1, min=442.0ms, max=442.0ms
+  scene_randomize: mean=1.5ms, total=6.1ms, count=4, min=1.2ms, max=2.3ms
+  mj_forward_sync: mean=552.9us, total=2.2ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:51:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:51:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:51:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:51:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:51:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:51:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:51:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:51:16 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]
+05/11 20:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160422m	[env.py: 870]
+05/11 20:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:51:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=221.4ms, total=221.4ms	[env.py: 1105]
+05/11 20:51:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:51:16 ERROR: [Worker 0] Worker 0 house 1 episode 102 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:51:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:51:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:51:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:51:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:51:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:51:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:51:18 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]
+05/11 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108788m	[env.py: 870]
+05/11 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:51:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=207.2ms, total=207.3ms	[env.py: 1105]
+05/11 20:51:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:51:18 ERROR: [Worker 0] Worker 0 house 1 episode 103 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:51:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:51:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:51:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:51:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:51:19 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]
+05/11 20:51:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:51:19 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]
+05/11 20:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125165m	[env.py: 870]
+05/11 20:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:51:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44479309 -0.80549471 -0.12516512] yaw=-63.0deg	[env.py: 1019]
+05/11 20:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:51:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=350.6ms, total=350.7ms	[env.py: 1075]
+05/11 20:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.445, -0.805, -0.125)	[env.py: 1079]
+05/11 20:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg	[env.py: 1082]
+05/11 20:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/11 20:51:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:51:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:51:20 INFO: [Worker 0] Worker 0 house 1 episode 104/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:51:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:51:20 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]
+05/11 20:51:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:51:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:51:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.004s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:51:22 ERROR: [Worker 0] Worker 0 house 1 episode 104 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:51:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:51:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:51:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:51:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:51:24 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]
+05/11 20:51:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:51:24 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]
+05/11 20:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181759m	[env.py: 870]
+05/11 20:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:51:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=426.4ms, total=426.4ms	[env.py: 1105]
+05/11 20:51:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:51:24 ERROR: [Worker 0] Worker 0 house 1 episode 105 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:51:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:51:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:51:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:51:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:51:26 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]
+05/11 20:51:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:51:26 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]
+05/11 20:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103700m	[env.py: 870]
+05/11 20:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:51:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.34483615 -1.14716455 -0.10370041] yaw=-50.5deg	[env.py: 1019]
+05/11 20:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:51:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=505.3ms, total=505.4ms	[env.py: 1075]
+05/11 20:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -1.147, -0.104)	[env.py: 1079]
+05/11 20:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg	[env.py: 1082]
+05/11 20:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/11 20:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:51:27 INFO: [Worker 0] Worker 0 house 1 episode 106/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:51:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:51:27 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]
+05/11 20:51:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:51:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:51:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.780s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:51:29 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.696[m] 81.970[deg]	[grasp_sample.py: 539]
+05/11 20:51:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:51:30 ERROR: [Worker 0] Worker 0 house 1 episode 106 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:51:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:51:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:51:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:51:32 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]
+05/11 20:51:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:51:32 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]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130981m	[env.py: 870]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:51:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62934408 -0.89656526 -0.1309812 ] yaw=-67.0deg	[env.py: 1019]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50480537 -0.95477907 -0.1309812 ] yaw=-61.0deg	[env.py: 1019]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:51:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=297.7ms, total=297.8ms	[env.py: 1075]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.629, -0.897, -0.131)	[env.py: 1079]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.0 deg	[env.py: 1082]
+05/11 20:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/11 20:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:51:33 INFO: [Worker 0] Worker 0 house 1 episode 107/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:51:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:51:33 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]
+05/11 20:51:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:51:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:51:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:51:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.293s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:51:35 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.719[m] 79.009[deg]	[grasp_sample.py: 539]
+05/11 20:51:37 ERROR: [Worker 0] Worker 0 house 1 episode 107 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:51:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:51:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:51:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:51:39 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]
+05/11 20:51:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:51:39 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]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154885m	[env.py: 870]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:51:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37771337 -1.15909424 -0.15488463] yaw=-41.8deg	[env.py: 1019]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:51:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=253.9ms, total=254.0ms	[env.py: 1075]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.378, -1.159, -0.155)	[env.py: 1079]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg	[env.py: 1082]
+05/11 20:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/11 20:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:51:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:51:39 INFO: [Worker 0] Worker 0 house 1 episode 108/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:51:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:51:39 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]
+05/11 20:51:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:51:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:51:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:51:41 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.630[m] 91.443[deg]	[grasp_sample.py: 539]
+05/11 20:51:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:51:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:51:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:51:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:51:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:51:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:52:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:52:34 INFO: [Worker 0] Worker 0 house 1 episode 136 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:52:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:52:43 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]
+05/11 20:52:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:52:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:52:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:52:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.643s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:52:50 INFO: [Worker 0] Feasible grasp found 555 (originally 555): w/ 0.217[m] 13.461[deg]	[grasp_sample.py: 539]
+05/11 20:52:51 ERROR: [Worker 0] Worker 0 house 1 episode 138 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:52:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:52:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:52:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:52:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:52:53 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]
+05/11 20:52:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:52:53 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]
+05/11 20:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125640m	[env.py: 870]
+05/11 20:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:52:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:52:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=253.9ms, total=254.0ms	[env.py: 1105]
+05/11 20:52:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:52:53 ERROR: [Worker 0] Worker 0 house 1 episode 139 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:52:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:52:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:52:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:52:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:52:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:52:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:52:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:52:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:52:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:52:54 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]
+05/11 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164015m	[env.py: 870]
+05/11 20:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:52:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57490233 -0.99645715 -0.16401452] yaw=-58.3deg	[env.py: 1019]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24159925 -1.19210488 -0.16401452] yaw=-46.2deg	[env.py: 1019]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:52:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=316.3ms, total=316.4ms	[env.py: 1075]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.996, -0.164)	[env.py: 1079]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg	[env.py: 1082]
+05/11 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/11 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:52:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:52:55 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:52:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:52:55 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]
+05/11 20:52:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:52:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:52:56 INFO: [Worker 0] Worker 0 house 1 episode 132 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:52:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:52:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.643[m] 76.959[deg]	[grasp_sample.py: 539]
+05/11 20:52:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:52:58 ERROR: [Worker 0] Worker 0 house 1 episode 140 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:53:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:00 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]
+05/11 20:53:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:00 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]
+05/11 20:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109516m	[env.py: 870]
+05/11 20:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=506.9ms, total=506.9ms	[env.py: 1105]
+05/11 20:53:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:53:00 ERROR: [Worker 0] Worker 0 house 1 episode 141 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:53:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:02 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]
+05/11 20:53:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161942m	[env.py: 870]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46402334 -0.88717715 -0.16194157] yaw=-64.2deg	[env.py: 1019]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:53:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:53:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=630.0ms, total=630.1ms	[env.py: 1075]
+05/11 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.464, -0.887, -0.162)	[env.py: 1079]
+05/11 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.2 deg	[env.py: 1082]
+05/11 20:53:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/11 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:53:03 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:53:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:53:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:53:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:53:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:53:04 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:53:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:53:04 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/11 20:53:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:53:12 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.736[m] 82.224[deg]	[grasp_sample.py: 539]
+05/11 20:53:13 ERROR: [Worker 0] Worker 0 house 1 episode 142 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:53:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:15 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]
+05/11 20:53:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:15 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]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188780m	[env.py: 870]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29465061 -0.98614992 -0.18877976] yaw=-48.2deg	[env.py: 1019]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:53:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=254.2ms, total=254.2ms	[env.py: 1075]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -0.986, -0.189)	[env.py: 1079]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg	[env.py: 1082]
+05/11 20:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/11 20:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:53:15 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:53:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:53:15 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]
+05/11 20:53:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:53:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:53:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:53:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:53:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.32s (batch: 4.25s, save: 10.06s)	[pipeline.py: 300]
+05/11 20:53:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.001s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:53:18 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.743[m] 74.213[deg]	[grasp_sample.py: 539]
+05/11 20:53:19 INFO: [Worker 0] [PROFILE] Episode 136 house 1 success=True episode_total=4.57s:
+  episode_total: mean=24.25s, total=315.30s, count=13, min=319.1ms, max=192801.2ms
+  sensor_polling: mean=470.3ms, total=201.75s, count=429, min=314.8ms, max=848.0ms
+  physics_step: mean=29.7ms, total=12.75s, count=429, min=19.5ms, max=119.9ms
+  save_trajectories: mean=10.06s, total=10.06s, count=1, min=10062.5ms, max=10062.5ms
+  task_specific_sample: mean=514.9ms, total=6.69s, count=13, min=308.2ms, max=917.7ms
+  task_sampling: mean=571.0ms, total=4.57s, count=8, min=450.2ms, max=920.5ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4252.7ms, max=4252.7ms
+  task_sampling_failed: mean=436.7ms, total=2.18s, count=5, min=319.1ms, max=609.0ms
+  scene_randomize: mean=1.5ms, total=19.1ms, count=13, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=583.8us, total=7.6ms, count=13, min=0.5ms, max=0.6ms
+  policy_setup: mean=13.8us, total=0.1ms, count=8, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:53:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:53:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:53:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:53:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:53:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:20 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]
+05/11 20:53:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:20 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]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157207m	[env.py: 870]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 143.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21412076 -1.0622082  -0.15720707] yaw=-44.1deg	[env.py: 1019]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:53:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=265.8ms, total=265.9ms	[env.py: 1075]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.062, -0.157)	[env.py: 1079]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg	[env.py: 1082]
+05/11 20:53:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/11 20:53:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:53:21 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:53:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:53:21 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]
+05/11 20:53:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:53:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:53:24 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:53:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 20:53:24 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/11 20:53:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:53:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:53:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.04s (batch: 4.00s, save: 10.05s)	[pipeline.py: 300]
+05/11 20:53:38 INFO: [Worker 0] [PROFILE] Episode 132 house 1 success=True episode_total=2.17s:
+  episode_total: mean=39.60s, total=198.02s, count=5, min=265.8ms, max=182632.5ms
+  sensor_polling: mean=463.9ms, total=124.78s, count=269, min=272.3ms, max=934.6ms
+  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10046.4ms, max=10046.4ms
+  physics_step: mean=30.1ms, total=8.10s, count=269, min=19.9ms, max=80.5ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3995.8ms, max=3995.8ms
+  task_specific_sample: mean=561.3ms, total=2.81s, count=5, min=262.2ms, max=1211.8ms
+  task_sampling: mean=722.9ms, total=2.17s, count=3, min=412.3ms, max=1215.8ms
+  task_sampling_failed: mean=327.4ms, total=654.8ms, count=2, min=265.8ms, max=389.0ms
+  scene_randomize: mean=1.5ms, total=7.4ms, count=5, min=1.0ms, max=2.4ms
+  mj_forward_sync: mean=576.4us, total=2.9ms, count=5, min=0.4ms, max=0.7ms
+  policy_setup: mean=15.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:53:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:53:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:40 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]
+05/11 20:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137439m	[env.py: 870]
+05/11 20:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=324.8ms, total=324.8ms	[env.py: 1105]
+05/11 20:53:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:53:40 ERROR: [Worker 0] Worker 0 house 1 episode 133 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:53:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.757s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:53:41 INFO: [Worker 0] Feasible grasp found 621 (originally 621): w/ 0.740[m] 98.590[deg]	[grasp_sample.py: 539]
+05/11 20:53:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:42 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]
+05/11 20:53:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:42 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]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162115m	[env.py: 870]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36882879 -1.01453726 -0.16211455] yaw=-57.5deg	[env.py: 1019]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:53:42 ERROR: [Worker 0] Worker 0 house 1 episode 137 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:53:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=364.3ms, total=364.4ms	[env.py: 1075]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.369, -1.015, -0.162)	[env.py: 1079]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg	[env.py: 1082]
+05/11 20:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/11 20:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:53:42 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:53:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:53:43 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]
+05/11 20:53:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:53:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:53:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:44 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]
+05/11 20:53:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109757m	[env.py: 870]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62560696 -0.81115537 -0.10975706] yaw=-81.0deg	[env.py: 1019]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3703876  -1.06084774 -0.10975706] yaw=-46.8deg	[env.py: 1019]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37260585 -1.16564546 -0.10975706] yaw=-33.2deg	[env.py: 1019]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:53:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=393.1ms, total=393.2ms	[env.py: 1075]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.626, -0.811, -0.110)	[env.py: 1079]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.0 deg	[env.py: 1082]
+05/11 20:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/11 20:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:53:45 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:53:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:53:45 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]
+05/11 20:53:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:53:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.169s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:53:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.322s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:53:46 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.729[m] 93.657[deg]	[grasp_sample.py: 539]
+05/11 20:53:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.692s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:53:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.756[m] 99.854[deg]	[grasp_sample.py: 539]
+05/11 20:53:48 ERROR: [Worker 0] Worker 0 house 1 episode 134 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:53:48 ERROR: [Worker 0] Worker 0 house 1 episode 138 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:53:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:49 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]
+05/11 20:53:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:49 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]
+05/11 20:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105582m	[env.py: 870]
+05/11 20:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=307.5ms, total=307.5ms	[env.py: 1105]
+05/11 20:53:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:53:49 ERROR: [Worker 0] Worker 0 house 1 episode 135 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:53:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:50 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]
+05/11 20:53:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:50 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]
+05/11 20:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145390m	[env.py: 870]
+05/11 20:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:50 INFO: [Worker 0] Worker 0 house 1 episode 108 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:53:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=772.1ms, total=772.2ms	[env.py: 1105]
+05/11 20:53:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:53:50 ERROR: [Worker 0] Worker 0 house 1 episode 139 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:53:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:53:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155127m	[env.py: 870]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50464241 -0.78375916 -0.1551266 ] yaw=-64.5deg	[env.py: 1019]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4347773 -1.0490284 -0.1551266] yaw=-45.1deg	[env.py: 1019]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:53:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.3ms, total=232.4ms	[env.py: 1075]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.505, -0.784, -0.155)	[env.py: 1079]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.5 deg	[env.py: 1082]
+05/11 20:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/11 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:53:51 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:53:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:53:52 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]
+05/11 20:53:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:53:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:53:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:52 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]
+05/11 20:53:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:52 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]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165600m	[env.py: 870]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43032615 -1.07695507 -0.16559988] yaw=-49.6deg	[env.py: 1019]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:53:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=343.9ms, total=343.9ms	[env.py: 1075]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -1.077, -0.166)	[env.py: 1079]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.6 deg	[env.py: 1082]
+05/11 20:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/11 20:53:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:53:52 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:53:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:53:52 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]
+05/11 20:53:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:53:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:53:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:53:53 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.649[m] 96.341[deg]	[grasp_sample.py: 539]
+05/11 20:53:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:53:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.083s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:53:54 ERROR: [Worker 0] Worker 0 house 1 episode 136 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:53:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:53:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:53:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:53:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:53:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:53:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:53:55 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]
+05/11 20:53:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:53:55 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]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109547m	[env.py: 870]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:53:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48201922 -0.86284189 -0.10954687] yaw=-61.0deg	[env.py: 1019]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms	[env.py: 1075]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.482, -0.863, -0.110)	[env.py: 1079]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg	[env.py: 1082]
+05/11 20:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/11 20:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:53:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:53:56 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:53:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:53:56 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]
+05/11 20:53:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:53:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:54:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.104s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:54:01 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.805[m] 89.127[deg]	[grasp_sample.py: 539]
+05/11 20:54:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:54:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:54:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:54:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:54:17 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:54:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:54:17 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/11 20:54:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:54:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:54:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:54:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.99s (batch: 4.04s, save: 10.95s)	[pipeline.py: 300]
+05/11 20:54:33 INFO: [Worker 0] [PROFILE] Episode 108 house 1 success=True episode_total=2.62s:
+  episode_total: mean=26.79s, total=187.50s, count=7, min=217.8ms, max=174487.3ms
+  sensor_polling: mean=451.2ms, total=118.22s, count=262, min=288.7ms, max=806.4ms
+  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10946.2ms, max=10946.2ms
+  physics_step: mean=29.1ms, total=7.62s, count=262, min=18.5ms, max=97.5ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.8ms, max=4042.8ms
+  task_specific_sample: mean=497.3ms, total=3.48s, count=7, min=213.7ms, max=771.9ms
+  task_sampling: mean=653.8ms, total=2.62s, count=4, min=538.7ms, max=775.2ms
+  task_sampling_failed: mean=297.4ms, total=892.3ms, count=3, min=217.8ms, max=437.9ms
+  scene_randomize: mean=1.7ms, total=12.2ms, count=7, min=1.0ms, max=3.3ms
+  mj_forward_sync: mean=604.8us, total=4.2ms, count=7, min=0.4ms, max=0.7ms
+  policy_setup: mean=13.9us, total=0.1ms, count=4, 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]
+05/11 20:54:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:54:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:54:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:54:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:54:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:54:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:54:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110742m	[env.py: 870]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:54:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44570746 -1.10617821 -0.11074188] yaw=-55.3deg	[env.py: 1019]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54950771 -0.82579362 -0.11074188] yaw=-62.9deg	[env.py: 1019]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:54:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.2ms, total=223.3ms	[env.py: 1075]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.446, -1.106, -0.111)	[env.py: 1079]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.3 deg	[env.py: 1082]
+05/11 20:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/11 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:54:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:54:35 INFO: [Worker 0] Worker 0 house 1 episode 109/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:54:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:54:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:54:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:54:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.169s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:54:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.803s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:54:37 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.672[m] 88.468[deg]	[grasp_sample.py: 539]
+05/11 20:54:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:54:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:54:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:54:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:54:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:54:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:54:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:55:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:55:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:55:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:55:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:55:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:55:26 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]
+05/11 20:55:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:55:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:55:37 INFO: [Worker 0] Worker 0 house 1 episode 143 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:55:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:55:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:56:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:56:01 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:56:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 20:56:01 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/11 20:56:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 39.050s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:56:05 INFO: [Worker 0] Feasible grasp found 602 (originally 602): w/ 0.164[m] 16.742[deg]	[grasp_sample.py: 539]
+05/11 20:56:05 INFO: [Worker 0] Worker 0 house 1 episode 140 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:56:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:56:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:56:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:56:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:56:12 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]
+05/11 20:56:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:56:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:56:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:56:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:56:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.91s (batch: 3.60s, save: 11.30s)	[pipeline.py: 300]
+05/11 20:56:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.011s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:56:16 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.214[m] 13.061[deg]	[grasp_sample.py: 539]
+05/11 20:56:17 INFO: [Worker 0] [PROFILE] Episode 143 house 1 success=True episode_total=18.70s:
+  episode_total: mean=9.35s, total=467.46s, count=50, min=209.0ms, max=181948.0ms
+  sensor_polling: mean=457.7ms, total=219.23s, count=479, min=292.2ms, max=1021.3ms
+  task_specific_sample: mean=530.3ms, total=26.51s, count=50, min=205.5ms, max=1043.8ms
+  task_sampling: mean=644.7ms, total=18.70s, count=29, min=370.9ms, max=1046.6ms
+  physics_step: mean=28.5ms, total=13.65s, count=479, min=19.7ms, max=85.6ms
+  save_trajectories: mean=11.30s, total=11.30s, count=1, min=11302.1ms, max=11302.1ms
+  task_sampling_failed: mean=383.6ms, total=8.06s, count=21, min=209.0ms, max=717.4ms
+  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3602.8ms, max=3602.8ms
+  scene_randomize: mean=1.3ms, total=63.6ms, count=50, min=0.9ms, max=2.2ms
+  mj_forward_sync: mean=525.2us, total=26.3ms, count=50, min=0.4ms, max=0.9ms
+  policy_setup: mean=14.4us, total=0.4ms, count=29, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=50, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:56:18 ERROR: [Worker 0] Worker 0 house 1 episode 137 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:56:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:56:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:56:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:56:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:56:18 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]
+05/11 20:56:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:56:18 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]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147652m	[env.py: 870]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:56:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51316404 -0.92403678 -0.14765163] yaw=-67.7deg	[env.py: 1019]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:56:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48710192 -0.89405645 -0.14765163] yaw=-63.8deg	[env.py: 1019]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:56:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=248.4ms, total=248.4ms	[env.py: 1075]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -0.924, -0.148)	[env.py: 1079]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg	[env.py: 1082]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:56:19 INFO: [Worker 0] Worker 0 house 1 episode 144/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:56:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:56:19 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]
+05/11 20:56:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:56:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:56:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:56:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:56:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:56:19 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]
+05/11 20:56:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:56:19 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]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109820m	[env.py: 870]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:56:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49444223 -0.87858949 -0.10981973] yaw=-70.4deg	[env.py: 1019]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56829186 -0.83593133 -0.10981973] yaw=-77.0deg	[env.py: 1019]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46943885 -0.8933878  -0.10981973] yaw=-67.9deg	[env.py: 1019]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:56:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=86.5ms, total=86.5ms	[env.py: 1075]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.879, -0.110)	[env.py: 1079]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg	[env.py: 1082]
+05/11 20:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:56:20 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:56:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:56:20 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]
+05/11 20:56:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:56:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:56:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.004s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:56:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.707[m] 76.151[deg]	[grasp_sample.py: 539]
+05/11 20:56:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:56:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:56:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:56:32 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:56:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 20:56:32 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/11 20:56:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.403s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:56:39 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.753[m] 100.366[deg]	[grasp_sample.py: 539]
+05/11 20:56:40 ERROR: [Worker 0] Worker 0 house 1 episode 138 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:56:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:56:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:56:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:56:42 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]
+05/11 20:56:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:56:42 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]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140536m	[env.py: 870]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:56:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22470416 -1.06556343 -0.140536  ] yaw=-42.6deg	[env.py: 1019]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:56:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.7ms	[env.py: 1075]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.225, -1.066, -0.141)	[env.py: 1079]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.6 deg	[env.py: 1082]
+05/11 20:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/11 20:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:56:42 INFO: [Worker 0] Worker 0 house 1 episode 139/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:56:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:56:42 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]
+05/11 20:56:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:56:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:56:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:56:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:56:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.21s (batch: 4.07s, save: 9.14s)	[pipeline.py: 300]
+05/11 20:56:46 INFO: [Worker 0] [PROFILE] Episode 140 house 1 success=True episode_total=2.06s:
+  episode_total: mean=50.20s, total=200.81s, count=4, min=782.5ms, max=173966.8ms
+  sensor_polling: mean=455.7ms, total=121.22s, count=266, min=304.5ms, max=842.7ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9137.9ms, max=9137.9ms
+  physics_step: mean=28.6ms, total=7.62s, count=266, min=20.0ms, max=82.2ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4072.6ms, max=4072.6ms
+  task_specific_sample: mean=707.5ms, total=2.83s, count=4, min=614.6ms, max=817.5ms
+  task_sampling: mean=687.8ms, total=2.06s, count=3, min=617.8ms, max=821.3ms
+  task_sampling_failed: mean=782.5ms, total=782.5ms, count=1, min=782.5ms, max=782.5ms
+  scene_randomize: mean=2.0ms, total=7.9ms, count=4, min=1.3ms, max=3.5ms
+  mj_forward_sync: mean=607.2us, total=2.4ms, count=4, min=0.5ms, max=0.7ms
+  policy_setup: mean=18.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:56:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.383s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:56:46 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.771[m] 88.559[deg]	[grasp_sample.py: 539]
+05/11 20:56:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:56:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:56:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:56:47 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]
+05/11 20:56:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:56:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125084m	[env.py: 870]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:56:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:47 ERROR: [Worker 0] Worker 0 house 1 episode 139 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56561538 -0.73182069 -0.12508435] yaw=-73.0deg	[env.py: 1019]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.52765152 -0.78366746 -0.12508435] yaw=-59.5deg	[env.py: 1019]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:56:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=246.8ms, total=246.9ms	[env.py: 1075]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.566, -0.732, -0.125)	[env.py: 1079]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.0 deg	[env.py: 1082]
+05/11 20:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/11 20:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:56:48 INFO: [Worker 0] Worker 0 house 1 episode 141/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:56:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:56:48 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]
+05/11 20:56:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:56:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:56:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:56:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:56:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:56:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:56:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:56:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:56:49 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]
+05/11 20:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163687m	[env.py: 870]
+05/11 20:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:56:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=268.4ms, total=268.4ms	[env.py: 1105]
+05/11 20:56:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:56:49 ERROR: [Worker 0] Worker 0 house 1 episode 140 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:56:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.723s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:56:50 ERROR: [Worker 0] Worker 0 house 1 episode 141 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:56:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:56:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:56:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:56:50 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]
+05/11 20:56:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:56:50 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]
+05/11 20:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176327m	[env.py: 870]
+05/11 20:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:56:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=224.8ms, total=224.9ms	[env.py: 1105]
+05/11 20:56:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:56:51 ERROR: [Worker 0] Worker 0 house 1 episode 141 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:56:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:56:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:56:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:56:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:56:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:56:51 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]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157106m	[env.py: 870]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:56:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55766418 -0.82923815 -0.15710581] yaw=-68.8deg	[env.py: 1019]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2075028  -0.98374766 -0.15710581] yaw=-41.4deg	[env.py: 1019]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:56:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=253.6ms, total=253.6ms	[env.py: 1075]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.829, -0.157)	[env.py: 1079]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.8 deg	[env.py: 1082]
+05/11 20:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/11 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:56:52 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:56:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:56:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:56:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:56:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:56:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:56:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:56:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:56:52 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]
+05/11 20:56:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:56:52 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]
+05/11 20:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101778m	[env.py: 870]
+05/11 20:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:56:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=321.4ms, total=321.5ms	[env.py: 1105]
+05/11 20:56:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:56:53 ERROR: [Worker 0] Worker 0 house 1 episode 142 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:56:54 INFO: [Worker 0] Worker 0 house 1 episode 109 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 20:56:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:56:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:56:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:56:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:56:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:56:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:56:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197780m	[env.py: 870]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:56:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27371153 -1.16572703 -0.1977799 ] yaw=-42.2deg	[env.py: 1019]
+05/11 20:56:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:56:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=416.1ms, total=416.1ms	[env.py: 1075]
+05/11 20:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.274, -1.166, -0.198)	[env.py: 1079]
+05/11 20:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg	[env.py: 1082]
+05/11 20:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
+05/11 20:56:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:56:55 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:56:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:56:55 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]
+05/11 20:56:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:56:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.270s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:56:55 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.745[m] 87.278[deg]	[grasp_sample.py: 539]
+05/11 20:56:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:56:56 ERROR: [Worker 0] Worker 0 house 1 episode 142 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:56:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:56:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:56:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:56:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:56:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:56:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:56:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:56:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:56:58 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]
+05/11 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169195m	[env.py: 870]
+05/11 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:56:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:56:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=566.2ms, total=566.2ms	[env.py: 1105]
+05/11 20:56:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:56:59 ERROR: [Worker 0] Worker 0 house 1 episode 143 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:56:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.690s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:56:59 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.671[m] 83.175[deg]	[grasp_sample.py: 539]
+05/11 20:57:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:57:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:00 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]
+05/11 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177897m	[env.py: 870]
+05/11 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=506.3ms, total=506.4ms	[env.py: 1105]
+05/11 20:57:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:57:00 ERROR: [Worker 0] Worker 0 house 1 episode 144 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:57:00 ERROR: [Worker 0] Worker 0 house 1 episode 143 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:57:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:02 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]
+05/11 20:57:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:02 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]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142583m	[env.py: 870]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:02 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]
+05/11 20:57:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:02 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]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154996m	[env.py: 870]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=267.9ms, total=268.0ms	[env.py: 1105]
+05/11 20:57:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:57:02 ERROR: [Worker 0] Worker 0 house 1 episode 145 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=317.7ms, total=317.8ms	[env.py: 1105]
+05/11 20:57:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:57:02 ERROR: [Worker 0] Worker 0 house 1 episode 144 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:57:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:04 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]
+05/11 20:57:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:04 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]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164553m	[env.py: 870]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51246285 -0.9941858  -0.16455281] yaw=-55.0deg	[env.py: 1019]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:57:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:04 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]
+05/11 20:57:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:04 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]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167723m	[env.py: 870]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:57:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.9ms, total=213.9ms	[env.py: 1075]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -0.994, -0.165)	[env.py: 1079]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg	[env.py: 1082]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:57:04 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45172754 -0.82090851 -0.16772314] yaw=-67.7deg	[env.py: 1019]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:57:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:57:04 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]
+05/11 20:57:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4559872  -1.03922689 -0.16772314] yaw=-43.0deg	[env.py: 1019]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:57:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=462.8ms, total=462.9ms	[env.py: 1075]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.452, -0.821, -0.168)	[env.py: 1079]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.7 deg	[env.py: 1082]
+05/11 20:57:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:57:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:57:04 INFO: [Worker 0] Worker 0 house 1 episode 145/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:57:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:57:05 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]
+05/11 20:57:05 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:57:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:57:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:57:06 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.661[m] 88.294[deg]	[grasp_sample.py: 539]
+05/11 20:57:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:57:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:57:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:57:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.834s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:57:13 ERROR: [Worker 0] Worker 0 house 1 episode 145 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 20:57:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:14 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]
+05/11 20:57:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:14 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]
+05/11 20:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110118m	[env.py: 870]
+05/11 20:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18693071 -1.13552009 -0.11011756] yaw=-41.9deg	[env.py: 1019]
+05/11 20:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:57:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=516.9ms, total=517.0ms	[env.py: 1075]
+05/11 20:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.187, -1.136, -0.110)	[env.py: 1079]
+05/11 20:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg	[env.py: 1082]
+05/11 20:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/11 20:57:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:57:15 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:57:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:57:15 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]
+05/11 20:57:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:57:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:57:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:57:20 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.749[m] 96.804[deg]	[grasp_sample.py: 539]
+05/11 20:57:21 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 20:57:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 20:57:21 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/11 20:57:21 ERROR: [Worker 0] Worker 0 house 1 episode 146 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:57:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:23 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]
+05/11 20:57:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:23 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]
+05/11 20:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108535m	[env.py: 870]
+05/11 20:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=356.7ms, total=356.7ms	[env.py: 1105]
+05/11 20:57:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:57:23 ERROR: [Worker 0] Worker 0 house 1 episode 147 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:57:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:57:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:25 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]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182665m	[env.py: 870]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41074453 -0.88964416 -0.18266478] yaw=-57.9deg	[env.py: 1019]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:57:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.4ms, total=233.4ms	[env.py: 1075]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -0.890, -0.183)	[env.py: 1079]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.9 deg	[env.py: 1082]
+05/11 20:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
+05/11 20:57:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:57:25 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:57:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:57:25 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]
+05/11 20:57:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:57:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:57:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.125s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:57:28 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.766[m] 88.521[deg]	[grasp_sample.py: 539]
+05/11 20:57:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:57:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:57:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:57:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:57:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:57:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 20:57:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 20:57:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.85s (batch: 4.35s, save: 10.50s)	[pipeline.py: 300]
+05/11 20:57:37 INFO: [Worker 0] [PROFILE] Episode 109 house 1 success=True episode_total=0.53s:
+  episode_total: mean=181.99s, total=181.99s, count=1, min=181991.8ms, max=181991.8ms
+  sensor_polling: mean=447.4ms, total=120.80s, count=270, min=314.9ms, max=778.5ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10499.9ms, max=10499.9ms
+  physics_step: mean=28.4ms, total=7.68s, count=270, min=20.0ms, max=68.0ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4352.2ms, max=4352.2ms
+  task_sampling: mean=533.4ms, total=533.4ms, count=1, min=533.4ms, max=533.4ms
+  task_specific_sample: mean=529.8ms, total=529.8ms, count=1, min=529.8ms, max=529.8ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=382.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.4us, 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]
+05/11 20:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:57:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:38 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]
+05/11 20:57:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:38 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]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166331m	[env.py: 870]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.61811222 -0.93422065 -0.16633076] yaw=-70.4deg	[env.py: 1019]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26287411 -1.0264885  -0.16633076] yaw=-46.4deg	[env.py: 1019]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:57:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=220.7ms, total=220.8ms	[env.py: 1075]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.618, -0.934, -0.166)	[env.py: 1079]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg	[env.py: 1082]
+05/11 20:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/11 20:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:57:39 INFO: [Worker 0] Worker 0 house 1 episode 110/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:57:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:57:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:57:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:57:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:57:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:57:40 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.646[m] 95.387[deg]	[grasp_sample.py: 539]
+05/11 20:57:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:57:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:57:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:57:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:57:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:57:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:57:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:57:47 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]
+05/11 20:57:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:57:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 455 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:57:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:57:54 INFO: [Worker 0] Feasible grasp found 100 (originally 100): w/ 0.136[m] 5.643[deg]	[grasp_sample.py: 539]
+05/11 20:57:56 ERROR: [Worker 0] Worker 0 house 1 episode 144 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:57:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:57 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]
+05/11 20:57:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146977m	[env.py: 870]
+05/11 20:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=225.7ms, total=225.7ms	[env.py: 1105]
+05/11 20:57:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:57:57 ERROR: [Worker 0] Worker 0 house 1 episode 145 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:57:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:57:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:57:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:57:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:57:59 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]
+05/11 20:57:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:57:59 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]
+05/11 20:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191182m	[env.py: 870]
+05/11 20:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:57:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:57:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=222.6ms, total=222.7ms	[env.py: 1105]
+05/11 20:57:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:57:59 ERROR: [Worker 0] Worker 0 house 1 episode 146 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:58:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:58:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:58:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:58:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:58:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:58:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:58:01 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]
+05/11 20:58:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:58:01 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]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192834m	[env.py: 870]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:58:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32594075 -1.20368425 -0.192834  ] yaw=-38.7deg	[env.py: 1019]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28072704 -1.05848121 -0.192834  ] yaw=-51.4deg	[env.py: 1019]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37145069 -0.90635332 -0.192834  ] yaw=-55.3deg	[env.py: 1019]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:58:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.9ms	[env.py: 1075]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.326, -1.204, -0.193)	[env.py: 1079]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.7 deg	[env.py: 1082]
+05/11 20:58:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/11 20:58:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:58:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:58:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:58:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:58:01 INFO: [Worker 0] Worker 0 house 1 episode 147/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:58:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:58:01 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]
+05/11 20:58:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:58:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:58:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:58:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.634[m] 84.099[deg]	[grasp_sample.py: 539]
+05/11 20:58:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:58:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:58:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:58:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:58:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:58:17 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]
+05/11 20:58:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:58:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:58:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:58:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.924s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:58:19 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.484[m] 65.929[deg]	[grasp_sample.py: 539]
+05/11 20:58:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:58:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:58:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:58:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:58:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:58:35 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]
+05/11 20:58:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:58:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.802s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:58:36 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.484[m] 65.929[deg]	[grasp_sample.py: 539]
+05/11 20:58:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:58:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:58:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:58:50 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 20:58:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:58:50 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]
+05/11 20:58:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 372 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:58:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:58:52 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.050[m] 1.858[deg]	[grasp_sample.py: 539]
+05/11 20:58:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:58:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 20:58:52 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]
+05/11 20:58:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:58:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:58:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:58:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:58:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:58:53 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.484[m] 65.929[deg]	[grasp_sample.py: 539]
+05/11 20:58:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:58:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:58:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:58:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:58:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:59:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:59:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:59:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 20:59:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 20:59:08 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 20:59:09 INFO: [Worker 0] Worker 0 house 1 episode 110 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 20:59:09 INFO: [Worker 0] [PROFILE] Episode 110 house 1 success=False episode_total=0.56s:
+  episode_total: mean=90.79s, total=90.79s, count=1, min=90793.7ms, max=90793.7ms
+  sensor_polling: mean=471.3ms, total=35.35s, count=75, min=338.1ms, max=708.9ms
+  physics_step: mean=26.4ms, total=1.98s, count=75, min=13.3ms, max=82.4ms
+  task_sampling: mean=558.9ms, total=558.9ms, count=1, min=558.9ms, max=558.9ms
+  task_specific_sample: mean=554.0ms, total=554.0ms, count=1, min=554.0ms, max=554.0ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=641.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 20:59:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:59:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:59:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:59:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:59:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:59:10 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]
+05/11 20:59:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:59:10 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]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147041m	[env.py: 870]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:59:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37384855 -0.84335503 -0.14704051] yaw=-53.2deg	[env.py: 1019]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.60225121 -0.94818411 -0.14704051] yaw=-64.6deg	[env.py: 1019]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:59:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=239.3ms, total=239.3ms	[env.py: 1075]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -0.843, -0.147)	[env.py: 1079]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg	[env.py: 1082]
+05/11 20:59:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/11 20:59:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:59:11 INFO: [Worker 0] Worker 0 house 1 episode 111/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:59:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:59:11 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]
+05/11 20:59:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:59:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:59:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.514s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 20:59:12 ERROR: [Worker 0] Worker 0 house 1 episode 111 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 20:59:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:59:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:59:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:59:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:59:14 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]
+05/11 20:59:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:59:14 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]
+05/11 20:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145530m	[env.py: 870]
+05/11 20:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:59:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=581.6ms, total=581.6ms	[env.py: 1105]
+05/11 20:59:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:59:15 ERROR: [Worker 0] Worker 0 house 1 episode 112 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:59:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 20:59:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:59:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:59:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:59:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:59:16 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]
+05/11 20:59:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:59:16 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]
+05/11 20:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132654m	[env.py: 870]
+05/11 20:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:59:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=357.9ms, total=358.0ms	[env.py: 1105]
+05/11 20:59:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:59:17 ERROR: [Worker 0] Worker 0 house 1 episode 113 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:59:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:59:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:59:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:59:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:59:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 20:59:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:59:18 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]
+05/11 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176046m	[env.py: 870]
+05/11 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:59:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=307.7ms, total=307.8ms	[env.py: 1105]
+05/11 20:59:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:59:18 ERROR: [Worker 0] Worker 0 house 1 episode 114 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:59:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:59:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:59:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:59:20 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]
+05/11 20:59:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:59:20 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]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182327m	[env.py: 870]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:59:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46272658 -0.94355551 -0.18232737] yaw=-64.6deg	[env.py: 1019]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.20835996 -1.02504675 -0.18232737] yaw=-50.1deg	[env.py: 1019]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:59:20 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]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -0.944, -0.182)	[env.py: 1079]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg	[env.py: 1082]
+05/11 20:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/11 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:59:20 INFO: [Worker 0] Worker 0 house 1 episode 115/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:59:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:59:20 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]
+05/11 20:59:20 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:59:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:59:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:59:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.265s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:59:24 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.701[m] 91.491[deg]	[grasp_sample.py: 539]
+05/11 20:59:25 ERROR: [Worker 0] Worker 0 house 1 episode 115 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:59:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:59:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:59:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:59:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:59:26 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]
+05/11 20:59:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:59:26 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]
+05/11 20:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103744m	[env.py: 870]
+05/11 20:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:59:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=538.0ms, total=538.1ms	[env.py: 1105]
+05/11 20:59:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 20:59:27 ERROR: [Worker 0] Worker 0 house 1 episode 116 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 20:59:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:59:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:59:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:59:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:59:28 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]
+05/11 20:59:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:59:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 20:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136064m	[env.py: 870]
+05/11 20:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:59:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29997166 -1.07049936 -0.13606361] yaw=-50.9deg	[env.py: 1019]
+05/11 20:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:59:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=335.0ms, total=335.1ms	[env.py: 1075]
+05/11 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.300, -1.070, -0.136)	[env.py: 1079]
+05/11 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.9 deg	[env.py: 1082]
+05/11 20:59:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/11 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:59:29 INFO: [Worker 0] Worker 0 house 1 episode 117/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:59:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:59:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 20:59:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:59:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:59:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.268s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:59:36 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.717[m] 80.841[deg]	[grasp_sample.py: 539]
+05/11 20:59:38 ERROR: [Worker 0] Worker 0 house 1 episode 117 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 20:59:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 20:59:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 20:59:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 20:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 20:59:39 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]
+05/11 20:59:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 20:59:39 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]
+05/11 20:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 20:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 20:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165919m	[env.py: 870]
+05/11 20:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 20:59:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.38530834 -0.88499333 -0.16591902] yaw=-59.1deg	[env.py: 1019]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50120867 -1.02817194 -0.16591902] yaw=-47.6deg	[env.py: 1019]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 20:59:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=505.2ms, total=505.2ms	[env.py: 1075]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -0.885, -0.166)	[env.py: 1079]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg	[env.py: 1082]
+05/11 20:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/11 20:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 20:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 20:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 20:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 20:59:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 20:59:40 INFO: [Worker 0] Worker 0 house 1 episode 118/240 collected=0/40	[pipeline.py: 1044]
+05/11 20:59:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 20:59:40 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]
+05/11 20:59:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 20:59:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 20:59:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.027s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 20:59:42 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.746[m] 84.148[deg]	[grasp_sample.py: 539]
+05/11 20:59:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 20:59:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 20:59:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 20:59:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 20:59:51 INFO: [Worker 0] Worker 0 house 1 episode 146 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:00:01 INFO: [Worker 0] Worker 0 house 1 episode 148 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:00:16 INFO: [Worker 0] Worker 0 house 1 episode 147 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:00:21 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:00:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 21:00:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 21:00:29 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:00:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 21:00:29 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/11 21:00:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:00:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:00:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.77s (batch: 4.27s, save: 11.50s)	[pipeline.py: 300]
+05/11 21:00:37 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:00:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 21:00:37 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/11 21:00:37 INFO: [Worker 0] [PROFILE] Episode 146 house 1 success=True episode_total=1.50s:
+  episode_total: mean=37.14s, total=222.83s, count=6, min=278.4ms, max=213498.4ms
+  sensor_polling: mean=486.6ms, total=145.97s, count=300, min=341.3ms, max=849.6ms
+  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11500.7ms, max=11500.7ms
+  physics_step: mean=29.4ms, total=8.82s, count=300, min=15.0ms, max=99.5ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4270.9ms, max=4270.9ms
+  task_specific_sample: mean=475.4ms, total=2.85s, count=6, min=274.9ms, max=571.1ms
+  task_sampling: mean=500.8ms, total=1.50s, count=3, min=460.5ms, max=547.6ms
+  task_sampling_failed: mean=462.6ms, total=1.39s, count=3, min=278.4ms, max=593.3ms
+  scene_randomize: mean=1.4ms, total=8.1ms, count=6, min=1.0ms, max=2.4ms
+  mj_forward_sync: mean=512.2us, total=3.1ms, count=6, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:00:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:00:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:00:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:00:39 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]
+05/11 21:00:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:00:39 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]
+05/11 21:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178614m	[env.py: 870]
+05/11 21:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:00:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=481.4ms, total=481.4ms	[env.py: 1105]
+05/11 21:00:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:00:39 ERROR: [Worker 0] Worker 0 house 1 episode 147 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:00:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:00:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:00:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:00:41 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]
+05/11 21:00:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:00:41 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]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122881m	[env.py: 870]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:00:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.63413268 -0.82123476 -0.12288108] yaw=-59.5deg	[env.py: 1019]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:00:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.4ms	[env.py: 1075]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.634, -0.821, -0.123)	[env.py: 1079]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg	[env.py: 1082]
+05/11 21:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/11 21:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:00:41 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:00:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:00:42 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]
+05/11 21:00:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:00:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:00:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:00:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:00:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.64s (batch: 3.88s, save: 11.76s)	[pipeline.py: 300]
+05/11 21:00:45 INFO: [Worker 0] [PROFILE] Episode 148 house 1 success=True episode_total=5.45s:
+  episode_total: mean=25.13s, total=402.10s, count=16, min=234.6ms, max=200008.0ms
+  sensor_polling: mean=452.3ms, total=204.90s, count=453, min=311.0ms, max=783.8ms
+  physics_step: mean=28.8ms, total=13.05s, count=453, min=19.8ms, max=109.6ms
+  save_trajectories: mean=11.76s, total=11.76s, count=1, min=11756.6ms, max=11756.6ms
+  task_specific_sample: mean=474.4ms, total=7.59s, count=16, min=231.2ms, max=1023.3ms
+  task_sampling: mean=605.6ms, total=5.45s, count=9, min=347.0ms, max=1026.4ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3881.2ms, max=3881.2ms
+  task_sampling_failed: mean=313.4ms, total=2.19s, count=7, min=234.5ms, max=366.3ms
+  scene_randomize: mean=1.4ms, total=21.6ms, count=16, min=0.9ms, max=2.8ms
+  mj_forward_sync: mean=517.5us, total=8.3ms, count=16, min=0.4ms, max=0.7ms
+  policy_setup: mean=15.9us, total=0.1ms, count=9, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=16, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:00:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:00:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:00:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:00:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:00:46 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]
+05/11 21:00:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:00:46 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]
+05/11 21:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105891m	[env.py: 870]
+05/11 21:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:00:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:00:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42601965 -0.81820305 -0.10589079] yaw=-66.4deg	[env.py: 1019]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10239996 -1.03066986 -0.10589079] yaw=-31.6deg	[env.py: 1019]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:00:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=911.2ms, total=911.3ms	[env.py: 1075]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.818, -0.106)	[env.py: 1079]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.4 deg	[env.py: 1082]
+05/11 21:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/11 21:00:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:00:47 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:00:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:00:48 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]
+05/11 21:00:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:00:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:00:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.671s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:00:49 ERROR: [Worker 0] Worker 0 house 1 episode 149 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:00:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:00:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:00:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:00:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.18s (batch: 4.32s, save: 9.86s)	[pipeline.py: 300]
+05/11 21:00:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:00:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:00:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:00:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:00:51 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]
+05/11 21:00:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:00:51 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]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109440m	[env.py: 870]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:00:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23202217 -0.90560067 -0.10944033] yaw=-39.5deg	[env.py: 1019]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47103143 -1.02693393 -0.10944033] yaw=-58.9deg	[env.py: 1019]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:00:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.1ms, total=209.1ms	[env.py: 1075]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -0.906, -0.109)	[env.py: 1079]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.5 deg	[env.py: 1082]
+05/11 21:00:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/11 21:00:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:00:51 INFO: [Worker 0] Worker 0 house 1 episode 150/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:00:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:00:51 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]
+05/11 21:00:51 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:00:51 INFO: [Worker 0] [PROFILE] Episode 147 house 1 success=True episode_total=1.18s:
+  episode_total: mean=67.07s, total=268.26s, count=4, min=236.0ms, max=170545.0ms
+  sensor_polling: mean=450.2ms, total=185.02s, count=411, min=314.7ms, max=833.3ms
+  physics_step: mean=28.4ms, total=11.67s, count=411, min=19.8ms, max=122.6ms
+  save_trajectories: mean=9.86s, total=9.86s, count=1, min=9861.9ms, max=9861.9ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4319.8ms, max=4319.8ms
+  task_specific_sample: mean=408.8ms, total=1.64s, count=4, min=230.3ms, max=601.8ms
+  task_sampling: mean=590.4ms, total=1.18s, count=2, min=574.1ms, max=606.8ms
+  task_sampling_failed: mean=237.9ms, total=475.8ms, count=2, min=236.0ms, max=239.8ms
+  scene_randomize: mean=1.7ms, total=6.8ms, count=4, min=1.0ms, max=3.4ms
+  mj_forward_sync: mean=521.9us, total=2.1ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=17.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:00:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:00:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:00:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:00:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:00:53 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]
+05/11 21:00:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:00:53 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]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137116m	[env.py: 870]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:00:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41898644 -0.83277958 -0.13711561] yaw=-64.1deg	[env.py: 1019]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28017995 -1.02805103 -0.13711561] yaw=-49.3deg	[env.py: 1019]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57680069 -0.79896607 -0.13711561] yaw=-58.3deg	[env.py: 1019]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:00:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=163.9ms, total=164.0ms	[env.py: 1075]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -0.833, -0.137)	[env.py: 1079]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg	[env.py: 1082]
+05/11 21:00:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:00:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/11 21:00:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:53 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]
+05/11 21:00:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:00:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:00:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:00:53 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:00:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.993s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:00:53 ERROR: [Worker 0] Worker 0 house 1 episode 150 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:00:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:00:53 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]
+05/11 21:00:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:00:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:00:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:00:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:00:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:00:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:00:55 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]
+05/11 21:00:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:00:55 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]
+05/11 21:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118280m	[env.py: 870]
+05/11 21:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:00:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.662s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:00:55 ERROR: [Worker 0] Worker 0 house 1 episode 148 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:00:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=323.4ms, total=323.4ms	[env.py: 1105]
+05/11 21:00:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:00:55 ERROR: [Worker 0] Worker 0 house 1 episode 151 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:00:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:00:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:00:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:00:57 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]
+05/11 21:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:00:57 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]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114074m	[env.py: 870]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:00:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:00:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:00:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:00:57 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]
+05/11 21:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:00:57 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]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138162m	[env.py: 870]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:00:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=220.0ms, total=220.0ms	[env.py: 1105]
+05/11 21:00:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:00:57 ERROR: [Worker 0] Worker 0 house 1 episode 149 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=440.4ms, total=440.5ms	[env.py: 1105]
+05/11 21:00:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:00:57 ERROR: [Worker 0] Worker 0 house 1 episode 152 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:00:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:00:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:00:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:00:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:00:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:00:58 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]
+05/11 21:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120043m	[env.py: 870]
+05/11 21:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:00:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.775s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:00:58 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.791[m] 84.539[deg]	[grasp_sample.py: 539]
+05/11 21:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47469899 -0.85859226 -0.12004328] yaw=-65.0deg	[env.py: 1019]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:00:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.0ms, total=251.1ms	[env.py: 1075]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -0.859, -0.120)	[env.py: 1079]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.0 deg	[env.py: 1082]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:00:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:00:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:00:59 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]
+05/11 21:00:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:00:59 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]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114999m	[env.py: 870]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:00:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2821289  -1.09284239 -0.11499911] yaw=-44.7deg	[env.py: 1019]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:00:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:00:59 INFO: [Worker 0] Worker 0 house 1 episode 150/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:00:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:00:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:00:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:00:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=402.2ms, total=402.2ms	[env.py: 1075]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.093, -0.115)	[env.py: 1079]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.7 deg	[env.py: 1082]
+05/11 21:00:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:00:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:00:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:00:59 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:00:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:00:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:00:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:00:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:00:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:00:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:01:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:01:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.023s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:01:02 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.779[m] 81.239[deg]	[grasp_sample.py: 539]
+05/11 21:01:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:01:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:01:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:01:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:01:04 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.740[m] 87.387[deg]	[grasp_sample.py: 539]
+05/11 21:01:05 ERROR: [Worker 0] Worker 0 house 1 episode 153 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:01:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:01:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:01:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:01:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:01:07 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]
+05/11 21:01:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:01:07 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]
+05/11 21:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145703m	[env.py: 870]
+05/11 21:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:01:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=478.6ms, total=478.6ms	[env.py: 1105]
+05/11 21:01:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:01:07 ERROR: [Worker 0] Worker 0 house 1 episode 154 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:01:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.881s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:01:07 INFO: [Worker 0] Feasible grasp found 198 (originally 198): w/ 0.145[m] 15.205[deg]	[grasp_sample.py: 539]
+05/11 21:01:08 ERROR: [Worker 0] Worker 0 house 1 episode 118 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:01:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:01:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:01:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:01:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:01:08 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]
+05/11 21:01:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:01:08 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]
+05/11 21:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139662m	[env.py: 870]
+05/11 21:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:01:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23268515 -1.01391409 -0.13966183] yaw=-46.2deg	[env.py: 1019]
+05/11 21:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38027827 -0.93328143 -0.13966183] yaw=-62.3deg	[env.py: 1019]
+05/11 21:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:01:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=291.1ms, total=291.1ms	[env.py: 1075]
+05/11 21:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.233, -1.014, -0.140)	[env.py: 1079]
+05/11 21:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg	[env.py: 1082]
+05/11 21:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/11 21:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:01:09 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:01:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:01:09 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]
+05/11 21:01:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:01:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:01:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:01:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:01:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:01:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:01:10 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]
+05/11 21:01:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:01:10 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]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133428m	[env.py: 870]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:01:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.13559079 -1.1024846  -0.13342846] yaw=-27.2deg	[env.py: 1019]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:01:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=241.8ms, total=241.8ms	[env.py: 1075]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.136, -1.102, -0.133)	[env.py: 1079]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.2 deg	[env.py: 1082]
+05/11 21:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/11 21:01:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:01:11 INFO: [Worker 0] Worker 0 house 1 episode 119/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:01:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:01:11 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]
+05/11 21:01:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:01:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:01:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.553s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:01:12 ERROR: [Worker 0] Worker 0 house 1 episode 119 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:01:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:01:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:01:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:01:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:01:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:01:14 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]
+05/11 21:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121365m	[env.py: 870]
+05/11 21:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:01:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:01:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:01:14 ERROR: [Worker 0] Worker 0 house 1 episode 155 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 21:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=750.7ms, total=750.7ms	[env.py: 1105]
+05/11 21:01:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:01:14 ERROR: [Worker 0] Worker 0 house 1 episode 120 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:01:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:01:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:01:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:01:15 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]
+05/11 21:01:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:01:15 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]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186015m	[env.py: 870]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:01:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21736565 -1.06059085 -0.18601539] yaw=-39.9deg	[env.py: 1019]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23062688 -1.15789108 -0.18601539] yaw=-28.7deg	[env.py: 1019]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:01:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.2ms, total=243.2ms	[env.py: 1075]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -1.061, -0.186)	[env.py: 1079]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg	[env.py: 1082]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:01:16 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:01:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:01:16 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]
+05/11 21:01:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:01:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:01:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:01:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:01:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:01:16 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]
+05/11 21:01:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:01:16 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]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156875m	[env.py: 870]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:01:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57063198 -0.81358976 -0.15687487] yaw=-70.8deg	[env.py: 1019]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:01:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=411.2ms, total=411.3ms	[env.py: 1075]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.571, -0.814, -0.157)	[env.py: 1079]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.8 deg	[env.py: 1082]
+05/11 21:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:01:17 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:01:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:01:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:01:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:01:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:01:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.211s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:01:20 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.757[m] 94.099[deg]	[grasp_sample.py: 539]
+05/11 21:01:21 ERROR: [Worker 0] Worker 0 house 1 episode 121 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:01:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:01:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:01:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:01:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:01:23 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]
+05/11 21:01:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:01:23 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]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154558m	[env.py: 870]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:01:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52164051 -0.71957841 -0.15455839] yaw=-72.2deg	[env.py: 1019]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29888776 -1.00322587 -0.15455839] yaw=-43.2deg	[env.py: 1019]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:01:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=386.3ms, total=386.4ms	[env.py: 1075]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.522, -0.720, -0.155)	[env.py: 1079]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.2 deg	[env.py: 1082]
+05/11 21:01:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/11 21:01:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:01:24 INFO: [Worker 0] Worker 0 house 1 episode 122/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:01:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:01:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:01:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:01:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:01:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.675s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:01:25 ERROR: [Worker 0] Worker 0 house 1 episode 122 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:01:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.797s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:01:26 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.704[m] 93.814[deg]	[grasp_sample.py: 539]
+05/11 21:01:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:01:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:01:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:01:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:01:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:01:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:01:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:01:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:01:27 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]
+05/11 21:01:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:01:27 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]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189845m	[env.py: 870]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:01:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.37193769 -0.99271443 -0.18984528] yaw=-61.4deg	[env.py: 1019]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:01:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=315.9ms, total=316.0ms	[env.py: 1075]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -0.993, -0.190)	[env.py: 1079]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg	[env.py: 1082]
+05/11 21:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/11 21:01:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:01:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:01:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:01:28 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:01:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:01:28 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]
+05/11 21:01:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:01:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:01:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.328s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:01:29 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.700[m] 90.661[deg]	[grasp_sample.py: 539]
+05/11 21:01:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:01:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:01:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:02:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:02:22 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]
+05/11 21:02:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:02:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:02:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.175s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:02:25 INFO: [Worker 0] Feasible grasp found 387 (originally 387): w/ 0.153[m] 11.791[deg]	[grasp_sample.py: 539]
+05/11 21:02:26 ERROR: [Worker 0] Worker 0 house 1 episode 150 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:02:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:02:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:02:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:02:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:02:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:02:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:02:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:02:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:02:28 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]
+05/11 21:02:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:02:28 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]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167446m	[env.py: 870]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:02:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30677966 -0.96148322 -0.16744581] yaw=-44.0deg	[env.py: 1019]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.61227525 -0.92082866 -0.16744581] yaw=-62.0deg	[env.py: 1019]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:02:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=216.6ms, total=216.7ms	[env.py: 1075]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.307, -0.961, -0.167)	[env.py: 1079]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.0 deg	[env.py: 1082]
+05/11 21:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/11 21:02:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:02:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:02:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:02:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:02:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:02:28 INFO: [Worker 0] Worker 0 house 1 episode 151/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:02:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:02:28 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]
+05/11 21:02:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:02:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:02:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:02:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:02:31 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]
+05/11 21:02:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:02:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:02:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:02:32 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.775[m] 96.343[deg]	[grasp_sample.py: 539]
+05/11 21:02:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:02:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:02:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:02:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:02:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:02:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:02:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.617s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:02:41 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.094[m] 5.420[deg]	[grasp_sample.py: 539]
+05/11 21:02:43 ERROR: [Worker 0] Worker 0 house 1 episode 148 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:02:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:02:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:02:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:02:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:02:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:02:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:02:44 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]
+05/11 21:02:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:02:44 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]
+05/11 21:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173530m	[env.py: 870]
+05/11 21:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:02:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:02:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -124.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37709343 -0.82982128 -0.17352995] yaw=-62.7deg	[env.py: 1019]
+05/11 21:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:02:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=734.5ms, total=734.6ms	[env.py: 1075]
+05/11 21:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -0.830, -0.174)	[env.py: 1079]
+05/11 21:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg	[env.py: 1082]
+05/11 21:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/11 21:02:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:02:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:02:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:02:45 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:02:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:02:46 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]
+05/11 21:02:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:02:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:02:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:02:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.143s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:02:48 ERROR: [Worker 0] Worker 0 house 1 episode 149 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:02:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:02:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:02:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:02:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:02:49 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]
+05/11 21:02:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:02:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198641m	[env.py: 870]
+05/11 21:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:02:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:02:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=371.8ms, total=371.9ms	[env.py: 1105]
+05/11 21:02:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:02:50 ERROR: [Worker 0] Worker 0 house 1 episode 150 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:02:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:02:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:02:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:02:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:02:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:02:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:02:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:02:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:02:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:02:51 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]
+05/11 21:02:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:02:51 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]
+05/11 21:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166901m	[env.py: 870]
+05/11 21:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:02:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:02:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:02:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47613084 -0.833686   -0.16690074] yaw=-54.6deg	[env.py: 1019]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:02:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=306.6ms, total=306.6ms	[env.py: 1075]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -0.834, -0.167)	[env.py: 1079]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg	[env.py: 1082]
+05/11 21:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/11 21:02:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:02:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:02:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:02:52 INFO: [Worker 0] Worker 0 house 1 episode 151/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:02:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:02:52 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]
+05/11 21:02:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:02:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:02:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:03:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 20.478s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:03:13 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.752[m] 91.709[deg]	[grasp_sample.py: 539]
+05/11 21:03:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:03:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:03:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:03:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:03:47 INFO: [Worker 0] Worker 0 house 1 episode 156 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:03:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:03:54 INFO: [Worker 0] Worker 0 house 1 episode 123 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:03:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:04:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:04:15 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:04:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 21:04:15 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/11 21:04:20 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:04:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 21:04:20 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/11 21:04:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:04:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:04:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:04:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:04:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:04:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.61s (batch: 3.87s, save: 10.74s)	[pipeline.py: 300]
+05/11 21:04:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:04:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:04:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:04:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:04:31 INFO: [Worker 0] [PROFILE] Episode 156 house 1 success=True episode_total=3.34s:
+  episode_total: mean=26.81s, total=214.46s, count=8, min=333.4ms, max=195461.1ms
+  sensor_polling: mean=471.0ms, total=130.46s, count=277, min=351.0ms, max=756.3ms
+  save_trajectories: mean=10.74s, total=10.74s, count=1, min=10736.4ms, max=10736.4ms
+  physics_step: mean=28.5ms, total=7.89s, count=277, min=20.0ms, max=101.1ms
+  task_specific_sample: mean=572.7ms, total=4.58s, count=8, min=329.5ms, max=1178.6ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.0ms, max=3873.0ms
+  task_sampling: mean=667.4ms, total=3.34s, count=5, min=460.5ms, max=1183.1ms
+  task_sampling_failed: mean=423.3ms, total=1.27s, count=3, min=333.3ms, max=488.6ms
+  scene_randomize: mean=1.5ms, total=11.7ms, count=8, min=0.9ms, max=3.1ms
+  mj_forward_sync: mean=512.8us, total=4.1ms, count=8, min=0.4ms, max=0.6ms
+  policy_setup: mean=12.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:04:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:04:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:04:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:04:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:04:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:04:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:04:32 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]
+05/11 21:04:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:04:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177768m	[env.py: 870]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:04:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.39396295 -0.94704243 -0.17776759] yaw=-63.8deg	[env.py: 1019]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49197689 -0.89916297 -0.17776759] yaw=-60.5deg	[env.py: 1019]
+05/11 21:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29888709 -0.85295862 -0.17776759] yaw=-45.4deg	[env.py: 1019]
+05/11 21:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:04:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.4ms	[env.py: 1075]
+05/11 21:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -0.947, -0.178)	[env.py: 1079]
+05/11 21:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.8 deg	[env.py: 1082]
+05/11 21:04:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/11 21:04:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:04:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:04:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:04:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:04:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:04:33 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:04:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:04:33 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]
+05/11 21:04:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:04:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:04:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:04:36 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.719[m] 95.872[deg]	[grasp_sample.py: 539]
+05/11 21:04:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:04:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:04:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.58s (batch: 4.38s, save: 11.19s)	[pipeline.py: 300]
+05/11 21:04:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:04:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:04:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:04:37 INFO: [Worker 0] [PROFILE] Episode 123 house 1 success=True episode_total=4.70s:
+  episode_total: mean=23.73s, total=308.54s, count=13, min=315.5ms, max=189938.4ms
+  sensor_polling: mean=452.7ms, total=188.77s, count=417, min=304.8ms, max=916.8ms
+  physics_step: mean=28.8ms, total=12.02s, count=417, min=19.5ms, max=85.7ms
+  save_trajectories: mean=11.19s, total=11.19s, count=1, min=11194.8ms, max=11194.8ms
+  task_specific_sample: mean=557.4ms, total=7.25s, count=13, min=312.6ms, max=770.7ms
+  task_sampling: mean=588.0ms, total=4.70s, count=8, min=475.6ms, max=773.6ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4385.0ms, max=4385.0ms
+  task_sampling_failed: mean=518.7ms, total=2.59s, count=5, min=315.5ms, max=759.9ms
+  scene_randomize: mean=1.2ms, total=16.1ms, count=13, min=0.9ms, max=2.0ms
+  mj_forward_sync: mean=507.8us, total=6.6ms, count=13, min=0.4ms, max=0.7ms
+  policy_setup: mean=13.7us, total=0.1ms, count=8, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:04:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:04:37 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.138[m] 11.076[deg]	[grasp_sample.py: 539]
+05/11 21:04:39 ERROR: [Worker 0] Worker 0 house 1 episode 151 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:04:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:04:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:04:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:04:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:04:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:04:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:04:39 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]
+05/11 21:04:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:04:39 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]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170730m	[env.py: 870]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:04:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58423053 -0.79869847 -0.17072988] yaw=-66.6deg	[env.py: 1019]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42636294 -0.833701   -0.17072988] yaw=-60.8deg	[env.py: 1019]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:04:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=250.4ms, total=250.5ms	[env.py: 1075]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.584, -0.799, -0.171)	[env.py: 1079]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg	[env.py: 1082]
+05/11 21:04:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/11 21:04:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:04:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:04:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:04:39 INFO: [Worker 0] Worker 0 house 1 episode 124/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:04:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:04:39 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]
+05/11 21:04:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:04:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:04:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:04:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:04:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:04:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:04:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:04:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:04:40 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]
+05/11 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163649m	[env.py: 870]
+05/11 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:04:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.9ms, total=226.9ms	[env.py: 1105]
+05/11 21:04:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:04:40 ERROR: [Worker 0] Worker 0 house 1 episode 152 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:04:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:04:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:04:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:04:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:04:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:04:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:04:42 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]
+05/11 21:04:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:04:42 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]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155931m	[env.py: 870]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:04:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57265326 -0.99695811 -0.15593094] yaw=-70.6deg	[env.py: 1019]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:04:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=236.4ms, total=236.5ms	[env.py: 1075]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.573, -0.997, -0.156)	[env.py: 1079]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg	[env.py: 1082]
+05/11 21:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/11 21:04:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:04:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:04:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:04:43 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:04:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:04:43 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]
+05/11 21:04:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:04:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:04:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.458s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:04:46 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.624[m] 95.593[deg]	[grasp_sample.py: 539]
+05/11 21:04:48 ERROR: [Worker 0] Worker 0 house 1 episode 153 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:04:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:04:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:04:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:04:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:04:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:04:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:04:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:04:50 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]
+05/11 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138937m	[env.py: 870]
+05/11 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:04:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=536.0ms, total=536.0ms	[env.py: 1105]
+05/11 21:04:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:04:50 ERROR: [Worker 0] Worker 0 house 1 episode 154 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:04:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:04:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:04:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:04:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:04:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:04:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:04:52 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]
+05/11 21:04:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:04:52 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]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133850m	[env.py: 870]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:04:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.66544236 -0.96816533 -0.13385043] yaw=-79.0deg	[env.py: 1019]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:04:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=474.4ms, total=474.5ms	[env.py: 1075]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.665, -0.968, -0.134)	[env.py: 1079]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.0 deg	[env.py: 1082]
+05/11 21:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/11 21:04:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:04:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:04:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:04:52 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:04:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:04:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:04:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:04:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:04:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:04:53 INFO: [Worker 0] Feasible grasp found 887 (originally 223): w/ 0.671[m] 87.660[deg]	[grasp_sample.py: 539]
+05/11 21:04:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:04:54 INFO: [Worker 0] Worker 0 house 1 episode 151 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:04:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:04:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:04:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.961s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:04:58 INFO: [Worker 0] Feasible grasp found 243 (originally 243): w/ 0.793[m] 96.806[deg]	[grasp_sample.py: 539]
+05/11 21:04:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:04:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:04:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:22 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:05:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 21:05:22 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/11 21:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:05:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:05:26 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]
+05/11 21:05:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:05:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:05:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.812s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:05:31 INFO: [Worker 0] Feasible grasp found 997 (originally 333): w/ 0.537[m] 66.629[deg]	[grasp_sample.py: 539]
+05/11 21:05:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:05:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:05:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:05:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:05:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.27s (batch: 4.61s, save: 11.67s)	[pipeline.py: 300]
+05/11 21:05:39 INFO: [Worker 0] [PROFILE] Episode 151 house 1 success=True episode_total=1.52s:
+  episode_total: mean=70.50s, total=282.02s, count=4, min=228.4ms, max=191294.8ms
+  sensor_polling: mean=441.7ms, total=192.58s, count=436, min=275.0ms, max=814.6ms
+  physics_step: mean=28.0ms, total=12.19s, count=436, min=19.6ms, max=95.8ms
+  save_trajectories: mean=11.67s, total=11.67s, count=1, min=11667.8ms, max=11667.8ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4605.0ms, max=4605.0ms
+  task_specific_sample: mean=432.8ms, total=1.73s, count=4, min=224.7ms, max=550.0ms
+  task_sampling: mean=505.1ms, total=1.52s, count=3, min=461.3ms, max=552.0ms
+  task_sampling_failed: mean=228.4ms, total=228.4ms, count=1, min=228.4ms, max=228.4ms
+  scene_randomize: mean=1.4ms, total=5.8ms, count=4, min=0.9ms, max=2.9ms
+  mj_forward_sync: mean=443.5us, total=1.8ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.7us, 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]
+05/11 21:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:05:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:05:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:05:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:05:41 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]
+05/11 21:05:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:05:41 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]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130515m	[env.py: 870]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:05:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59775654 -0.81291198 -0.13051478] yaw=-65.1deg	[env.py: 1019]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:05:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=323.8ms, total=323.8ms	[env.py: 1075]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.598, -0.813, -0.131)	[env.py: 1079]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.1 deg	[env.py: 1082]
+05/11 21:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/11 21:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:05:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:05:41 INFO: [Worker 0] Worker 0 house 1 episode 152/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:05:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:05:42 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]
+05/11 21:05:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:05:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:05:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:05:48 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]
+05/11 21:05:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:05:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:05:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.850s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:05:52 INFO: [Worker 0] Feasible grasp found 997 (originally 333): w/ 0.537[m] 66.629[deg]	[grasp_sample.py: 539]
+05/11 21:05:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:05:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:05:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:05:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 13.201s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:05:55 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.741[m] 94.966[deg]	[grasp_sample.py: 539]
+05/11 21:05:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:05:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:05:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:05:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:06:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:06:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:06:08 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]
+05/11 21:06:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:06:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:06:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:06:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:06:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.884s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:06:13 INFO: [Worker 0] Feasible grasp found 997 (originally 333): w/ 0.537[m] 66.629[deg]	[grasp_sample.py: 539]
+05/11 21:06:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:06:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:06:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:06:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:06:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:06:28 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 21:06:29 INFO: [Worker 0] Worker 0 house 1 episode 155 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 21:06:29 INFO: [Worker 0] [PROFILE] Episode 155 house 1 success=False episode_total=3.44s:
+  episode_total: mean=37.44s, total=337.00s, count=9, min=237.3ms, max=121854.1ms
+  sensor_polling: mean=464.1ms, total=168.47s, count=363, min=315.0ms, max=881.2ms
+  physics_step: mean=27.4ms, total=9.94s, count=363, min=13.4ms, max=144.3ms
+  task_specific_sample: mean=562.4ms, total=5.06s, count=9, min=233.4ms, max=1060.1ms
+  task_sampling: mean=687.0ms, total=3.44s, count=5, min=465.0ms, max=1063.0ms
+  task_sampling_failed: mean=415.1ms, total=1.66s, count=4, min=237.2ms, max=544.1ms
+  scene_randomize: mean=1.5ms, total=13.6ms, count=9, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=565.6us, total=5.1ms, count=9, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:06:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:06:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:06:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:06:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:06:30 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]
+05/11 21:06:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:06:30 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]
+05/11 21:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117480m	[env.py: 870]
+05/11 21:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:06:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.216263   -0.9445835  -0.11748027] yaw=-57.5deg	[env.py: 1019]
+05/11 21:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:06:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=347.4ms, total=347.4ms	[env.py: 1075]
+05/11 21:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.216, -0.945, -0.117)	[env.py: 1079]
+05/11 21:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg	[env.py: 1082]
+05/11 21:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/11 21:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:06:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:06:31 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:06:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:06:31 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]
+05/11 21:06:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:06:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:06:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.167s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:06:33 ERROR: [Worker 0] Worker 0 house 1 episode 156 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:06:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:06:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:06:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:06:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:06:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:06:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:06:35 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]
+05/11 21:06:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:06:35 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]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141851m	[env.py: 870]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:06:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29347026 -0.86130389 -0.1418508 ] yaw=-62.3deg	[env.py: 1019]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:06:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=338.6ms, total=338.6ms	[env.py: 1075]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -0.861, -0.142)	[env.py: 1079]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.3 deg	[env.py: 1082]
+05/11 21:06:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/11 21:06:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:06:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:06:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:06:36 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:06:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:06:36 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]
+05/11 21:06:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:06:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:06:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.706s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:06:37 ERROR: [Worker 0] Worker 0 house 1 episode 157 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:06:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:06:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:06:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:06:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:06:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:06:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:06:39 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]
+05/11 21:06:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:06:39 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]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166169m	[env.py: 870]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:06:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3567271  -1.12698725 -0.16616907] yaw=-46.1deg	[env.py: 1019]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:06:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=390.2ms, total=390.2ms	[env.py: 1075]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -1.127, -0.166)	[env.py: 1079]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg	[env.py: 1082]
+05/11 21:06:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/11 21:06:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:06:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:06:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:06:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:06:39 INFO: [Worker 0] Worker 0 house 1 episode 158/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:06:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:06:39 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]
+05/11 21:06:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:06:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:06:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.388s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:06:43 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.638[m] 89.862[deg]	[grasp_sample.py: 539]
+05/11 21:06:45 ERROR: [Worker 0] Worker 0 house 1 episode 158 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:06:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:06:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:06:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:06:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:06:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:06:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:06:46 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]
+05/11 21:06:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:06:46 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]
+05/11 21:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158854m	[env.py: 870]
+05/11 21:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:06:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18207567 -1.10395663 -0.15885444] yaw=-31.8deg	[env.py: 1019]
+05/11 21:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60854867 -1.00745338 -0.15885444] yaw=-71.2deg	[env.py: 1019]
+05/11 21:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5497502  -0.74550396 -0.15885444] yaw=-78.2deg	[env.py: 1019]
+05/11 21:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=442.3ms, total=442.3ms	[env.py: 1075]
+05/11 21:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.182, -1.104, -0.159)	[env.py: 1079]
+05/11 21:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.8 deg	[env.py: 1082]
+05/11 21:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/11 21:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:06:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:06:47 INFO: [Worker 0] Worker 0 house 1 episode 159/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:06:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:06:47 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]
+05/11 21:06:47 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:06:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:06:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.175s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:06:54 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.744[m] 89.306[deg]	[grasp_sample.py: 539]
+05/11 21:06:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:06:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:06:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:06:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:07:06 INFO: [Worker 0] Worker 0 house 1 episode 157 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:07:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:07:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:07:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:07:18 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]
+05/11 21:07:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:07:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:07:24 INFO: [Worker 0] Worker 0 house 1 episode 124 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:07:35 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:07:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 21:07:35 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/11 21:07:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.695s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:07:42 INFO: [Worker 0] Feasible grasp found 136 (originally 136): w/ 0.232[m] 8.848[deg]	[grasp_sample.py: 539]
+05/11 21:07:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:07:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:07:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:07:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:07:43 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]
+05/11 21:07:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:07:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:07:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:07:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:07:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.93s (batch: 4.32s, save: 10.61s)	[pipeline.py: 300]
+05/11 21:07:51 INFO: [Worker 0] [PROFILE] Episode 157 house 1 success=True episode_total=0.51s:
+  episode_total: mean=198.23s, total=198.23s, count=1, min=198229.8ms, max=198229.8ms
+  sensor_polling: mean=462.0ms, total=130.75s, count=283, min=322.8ms, max=812.0ms
+  save_trajectories: mean=10.61s, total=10.61s, count=1, min=10613.1ms, max=10613.1ms
+  physics_step: mean=28.5ms, total=8.08s, count=283, min=15.0ms, max=104.7ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4319.1ms, max=4319.1ms
+  task_sampling: mean=513.5ms, total=513.5ms, count=1, min=513.5ms, max=513.5ms
+  task_specific_sample: mean=509.3ms, total=509.3ms, count=1, min=509.3ms, max=509.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=550.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.6us, 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]
+05/11 21:07:52 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:07:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 21:07:52 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/11 21:07:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:07:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:07:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:07:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:07:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:07:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:07:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:07:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:07:52 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]
+05/11 21:07:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:07:52 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]
+05/11 21:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127330m	[env.py: 870]
+05/11 21:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:07:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.4ms, total=219.4ms	[env.py: 1105]
+05/11 21:07:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:07:52 ERROR: [Worker 0] Worker 0 house 1 episode 158 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:07:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:07:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:07:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:07:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:07:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:07:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:07:54 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]
+05/11 21:07:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:07:54 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]
+05/11 21:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143762m	[env.py: 870]
+05/11 21:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:07:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=615.9ms, total=615.9ms	[env.py: 1105]
+05/11 21:07:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:07:54 ERROR: [Worker 0] Worker 0 house 1 episode 159 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:07:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:07:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:07:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:07:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:07:56 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]
+05/11 21:07:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:07:56 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]
+05/11 21:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141024m	[env.py: 870]
+05/11 21:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:07:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=217.2ms, total=217.2ms	[env.py: 1105]
+05/11 21:07:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:07:56 ERROR: [Worker 0] Worker 0 house 1 episode 160 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:07:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:07:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:07:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:07:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:07:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:07:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:07:58 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]
+05/11 21:07:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:07:58 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]
+05/11 21:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122254m	[env.py: 870]
+05/11 21:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:07:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:07:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.8ms, total=214.9ms	[env.py: 1105]
+05/11 21:07:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:07:58 ERROR: [Worker 0] Worker 0 house 1 episode 161 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:08:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:08:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:08:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:08:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:08:00 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]
+05/11 21:08:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:08:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124665m	[env.py: 870]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:08:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61147154 -0.8628107  -0.12466508] yaw=-76.1deg	[env.py: 1019]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:08:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=228.9ms, total=228.9ms	[env.py: 1075]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.611, -0.863, -0.125)	[env.py: 1079]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.1 deg	[env.py: 1082]
+05/11 21:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/11 21:08:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:08:00 INFO: [Worker 0] Worker 0 house 1 episode 162/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:08:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:08:00 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]
+05/11 21:08:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:08:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:08:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:08:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 22.907s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:08:06 INFO: [Worker 0] Feasible grasp found 619 (originally 619): w/ 0.585[m] 21.816[deg]	[grasp_sample.py: 539]
+05/11 21:08:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:08:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:08:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:08:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.438s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:08:08 INFO: [Worker 0] Feasible grasp found 183 (originally 183): w/ 0.774[m] 96.773[deg]	[grasp_sample.py: 539]
+05/11 21:08:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:08:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:08:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.44s (batch: 4.18s, save: 12.26s)	[pipeline.py: 300]
+05/11 21:08:09 ERROR: [Worker 0] Worker 0 house 1 episode 162 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:08:09 INFO: [Worker 0] [PROFILE] Episode 124 house 1 success=True episode_total=0.50s:
+  episode_total: mean=210.59s, total=210.59s, count=1, min=210588.1ms, max=210588.1ms
+  sensor_polling: mean=454.2ms, total=133.54s, count=294, min=314.7ms, max=754.5ms
+  save_trajectories: mean=12.26s, total=12.26s, count=1, min=12259.0ms, max=12259.0ms
+  physics_step: mean=28.6ms, total=8.42s, count=294, min=19.2ms, max=113.6ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4180.0ms, max=4180.0ms
+  task_sampling: mean=496.7ms, total=496.7ms, count=1, min=496.7ms, max=496.7ms
+  task_specific_sample: mean=492.9ms, total=492.9ms, count=1, min=492.9ms, max=492.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=447.5us, 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]
+05/11 21:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:08:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:08:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:08:11 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]
+05/11 21:08:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:08:11 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]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153828m	[env.py: 870]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:08:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41208102 -1.12969178 -0.15382792] yaw=-37.1deg	[env.py: 1019]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:08:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:08:11 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]
+05/11 21:08:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:08:11 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]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134722m	[env.py: 870]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:08:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:08:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.9ms, total=231.9ms	[env.py: 1075]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.412, -1.130, -0.154)	[env.py: 1079]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.1 deg	[env.py: 1082]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26725996 -1.14086879 -0.13472197] yaw=-41.7deg	[env.py: 1019]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41764042 -0.94203404 -0.13472197] yaw=-61.2deg	[env.py: 1019]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:08:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=263.0ms, total=263.0ms	[env.py: 1075]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.267, -1.141, -0.135)	[env.py: 1079]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.7 deg	[env.py: 1082]
+05/11 21:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:08:11 INFO: [Worker 0] Worker 0 house 1 episode 163/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:08:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:08:11 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]
+05/11 21:08:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:08:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:08:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:08:11 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:08:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:08:11 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]
+05/11 21:08:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:08:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.975s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:08:13 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.660[m] 86.281[deg]	[grasp_sample.py: 539]
+05/11 21:08:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:08:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:08:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:08:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.768s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:08:19 INFO: [Worker 0] Feasible grasp found 68 (originally 68): w/ 0.700[m] 88.428[deg]	[grasp_sample.py: 539]
+05/11 21:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:21 ERROR: [Worker 0] Worker 0 house 1 episode 125 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:08:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:08:22 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]
+05/11 21:08:22 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:08:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:08:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:08:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:08:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:08:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:08:22 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]
+05/11 21:08:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:08:22 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]
+05/11 21:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109027m	[env.py: 870]
+05/11 21:08:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:08:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=224.4ms, total=224.5ms	[env.py: 1105]
+05/11 21:08:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:08:23 ERROR: [Worker 0] Worker 0 house 1 episode 126 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:08:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:08:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:08:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:08:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:08:24 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]
+05/11 21:08:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:08:24 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]
+05/11 21:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110285m	[env.py: 870]
+05/11 21:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:08:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66964174 -0.96394749 -0.11028452] yaw=-81.2deg	[env.py: 1019]
+05/11 21:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:08:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=227.8ms, total=227.9ms	[env.py: 1075]
+05/11 21:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.670, -0.964, -0.110)	[env.py: 1079]
+05/11 21:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.2 deg	[env.py: 1082]
+05/11 21:08:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/11 21:08:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:08:25 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:08:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:08:25 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]
+05/11 21:08:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:08:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:08:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.373s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:08:29 INFO: [Worker 0] Feasible grasp found 1289 (originally 625): w/ 0.670[m] 86.205[deg]	[grasp_sample.py: 539]
+05/11 21:08:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:08:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.002s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:08:30 INFO: [Worker 0] Feasible grasp found 96 (originally 96): w/ 0.579[m] 21.228[deg]	[grasp_sample.py: 539]
+05/11 21:08:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:08:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:08:31 ERROR: [Worker 0] Worker 0 house 1 episode 152 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:08:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:08:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:08:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:08:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:08:33 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]
+05/11 21:08:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:08:33 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]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172580m	[env.py: 870]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:08:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34064055 -1.1872836  -0.17258047] yaw=-52.5deg	[env.py: 1019]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58242973 -0.71042671 -0.17258047] yaw=-71.3deg	[env.py: 1019]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20525189 -1.06677218 -0.17258047] yaw=-42.1deg	[env.py: 1019]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:08:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.2ms, total=133.3ms	[env.py: 1075]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.341, -1.187, -0.173)	[env.py: 1079]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg	[env.py: 1082]
+05/11 21:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/11 21:08:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:08:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:08:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:08:33 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:08:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:08:33 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]
+05/11 21:08:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:08:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:08:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.939s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:08:35 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.605[m] 81.034[deg]	[grasp_sample.py: 539]
+05/11 21:08:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:08:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:08:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:09:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:09:03 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]
+05/11 21:09:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:09:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:09:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:09:07 INFO: [Worker 0] Feasible grasp found 1289 (originally 625): w/ 0.531[m] 64.483[deg]	[grasp_sample.py: 539]
+05/11 21:09:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:09:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:09:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:16 INFO: [Worker 0] Worker 0 house 1 episode 159 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:09:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:09:23 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]
+05/11 21:09:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:09:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:09:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.613s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:09:26 INFO: [Worker 0] Feasible grasp found 1289 (originally 625): w/ 0.531[m] 64.483[deg]	[grasp_sample.py: 539]
+05/11 21:09:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:09:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:09:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:09:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:09:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:09:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:09:42 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]
+05/11 21:09:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:09:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:09:44 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:09:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 21:09:44 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/11 21:09:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.929s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:09:45 INFO: [Worker 0] Feasible grasp found 1289 (originally 625): w/ 0.531[m] 64.483[deg]	[grasp_sample.py: 539]
+05/11 21:09:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:09:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:09:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:09:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:09:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:09:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:09:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.26s (batch: 4.09s, save: 10.17s)	[pipeline.py: 300]
+05/11 21:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:09:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:09:59 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 21:09:59 INFO: [Worker 0] Worker 0 house 1 episode 127 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 21:09:59 INFO: [Worker 0] [PROFILE] Episode 159 house 1 success=True episode_total=2.61s:
+  episode_total: mean=51.09s, total=204.35s, count=4, min=2525.4ms, max=192989.4ms
+  sensor_polling: mean=456.5ms, total=130.12s, count=285, min=302.1ms, max=715.8ms
+  save_trajectories: mean=10.17s, total=10.17s, count=1, min=10171.2ms, max=10171.2ms
+  physics_step: mean=28.7ms, total=8.18s, count=285, min=19.7ms, max=81.4ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4089.1ms, max=4089.1ms
+  task_sampling: mean=653.1ms, total=2.61s, count=4, min=604.0ms, max=744.2ms
+  task_specific_sample: mean=650.4ms, total=2.60s, count=4, min=601.1ms, max=741.4ms
+  scene_randomize: mean=1.1ms, total=4.4ms, count=4, min=0.9ms, max=1.2ms
+  mj_forward_sync: mean=488.2us, total=2.0ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.3us, 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]
+05/11 21:10:00 INFO: [Worker 0] Object is not in grasp! 0.00144 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 21:10:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:10:00 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]
+05/11 21:10:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:10:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 355 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:10:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:10:01 INFO: [Worker 0] Feasible grasp found 39 (originally 39): w/ 0.127[m] 4.818[deg]	[grasp_sample.py: 539]
+05/11 21:10:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:10:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:01 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]
+05/11 21:10:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:01 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]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197731m	[env.py: 870]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.3876608  -0.96187135 -0.19773052] yaw=-54.4deg	[env.py: 1019]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:10:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:10:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49155054 -0.76153941 -0.19773052] yaw=-55.1deg	[env.py: 1019]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:10:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=342.3ms, total=342.4ms	[env.py: 1075]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -0.962, -0.198)	[env.py: 1079]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg	[env.py: 1082]
+05/11 21:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/11 21:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:10:02 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:10:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:10:02 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]
+05/11 21:10:02 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:10:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:10:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.938s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:10:04 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.668[m] 82.310[deg]	[grasp_sample.py: 539]
+05/11 21:10:05 ERROR: [Worker 0] Worker 0 house 1 episode 160 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:10:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:10:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:07 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]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162060m	[env.py: 870]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43133807 -0.77555116 -0.16206027] yaw=-66.6deg	[env.py: 1019]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:10:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=289.7ms, total=289.8ms	[env.py: 1075]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.431, -0.776, -0.162)	[env.py: 1079]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg	[env.py: 1082]
+05/11 21:10:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/11 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:10:07 INFO: [Worker 0] Worker 0 house 1 episode 161/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:10:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:10:07 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]
+05/11 21:10:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:10:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:10:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.997s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:10:09 ERROR: [Worker 0] Worker 0 house 1 episode 161 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:10:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/debug/chunk_002	[pipeline.py: 1174]
+05/11 21:10:10 INFO: [Worker 0] Queueing failed trajectory for debug (seed: 30202)	[pipeline.py: 1213]
+05/11 21:10:10 INFO: [Worker 0] [PROFILE] Episode 127 house 1 success=False episode_total=1.08s:
+  episode_total: mean=38.70s, total=116.10s, count=3, min=236.0ms, max=105709.4ms
+  sensor_polling: mean=473.9ms, total=33.17s, count=70, min=322.7ms, max=887.7ms
+  physics_step: mean=23.4ms, total=1.64s, count=70, min=13.4ms, max=62.0ms
+  task_specific_sample: mean=435.0ms, total=1.30s, count=3, min=231.1ms, max=603.6ms
+  task_sampling: mean=541.0ms, total=1.08s, count=2, min=473.0ms, max=608.9ms
+  task_sampling_failed: mean=236.0ms, total=236.0ms, count=1, min=236.0ms, max=236.0ms
+  scene_randomize: mean=2.1ms, total=6.3ms, count=3, min=1.3ms, max=3.7ms
+  mj_forward_sync: mean=658.8us, total=2.0ms, count=3, min=0.6ms, max=0.7ms
+  policy_setup: mean=14.0us, 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]
+05/11 21:10:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:11 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]
+05/11 21:10:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:11 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]
+05/11 21:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143527m	[env.py: 870]
+05/11 21:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=270.0ms, total=270.0ms	[env.py: 1105]
+05/11 21:10:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:10:11 ERROR: [Worker 0] Worker 0 house 1 episode 162 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:10:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:12 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]
+05/11 21:10:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:12 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]
+05/11 21:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194547m	[env.py: 870]
+05/11 21:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=254.5ms, total=254.5ms	[env.py: 1105]
+05/11 21:10:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:10:12 ERROR: [Worker 0] Worker 0 house 1 episode 128 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:10:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:13 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]
+05/11 21:10:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:13 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]
+05/11 21:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100013m	[env.py: 870]
+05/11 21:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=473.7ms, total=473.8ms	[env.py: 1105]
+05/11 21:10:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:10:13 ERROR: [Worker 0] Worker 0 house 1 episode 163 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:10:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:14 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]
+05/11 21:10:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:14 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]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168298m	[env.py: 870]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60814722 -0.98461253 -0.16829805] yaw=-54.1deg	[env.py: 1019]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:10:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=554.3ms, total=554.3ms	[env.py: 1075]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.608, -0.985, -0.168)	[env.py: 1079]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg	[env.py: 1082]
+05/11 21:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/11 21:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:10:15 INFO: [Worker 0] Worker 0 house 1 episode 129/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:10:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:10:15 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]
+05/11 21:10:15 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:10:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:10:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:15 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]
+05/11 21:10:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:15 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]
+05/11 21:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187621m	[env.py: 870]
+05/11 21:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=356.6ms, total=356.7ms	[env.py: 1105]
+05/11 21:10:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:10:15 ERROR: [Worker 0] Worker 0 house 1 episode 164 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:10:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.919s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:10:16 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.658[m] 79.661[deg]	[grasp_sample.py: 539]
+05/11 21:10:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:10:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:10:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:10:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:17 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]
+05/11 21:10:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:17 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]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182069m	[env.py: 870]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26452322 -0.97555617 -0.18206909] yaw=-53.4deg	[env.py: 1019]
+05/11 21:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:10:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=618.3ms, total=618.4ms	[env.py: 1075]
+05/11 21:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -0.976, -0.182)	[env.py: 1079]
+05/11 21:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg	[env.py: 1082]
+05/11 21:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/11 21:10:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:10:18 INFO: [Worker 0] Worker 0 house 1 episode 165/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:10:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:10:18 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]
+05/11 21:10:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:10:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:10:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.453s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:10:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.757[m] 89.191[deg]	[grasp_sample.py: 539]
+05/11 21:10:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:10:22 ERROR: [Worker 0] Worker 0 house 1 episode 165 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:10:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:24 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]
+05/11 21:10:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:24 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]
+05/11 21:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196617m	[env.py: 870]
+05/11 21:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=391.7ms, total=391.7ms	[env.py: 1105]
+05/11 21:10:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:10:24 ERROR: [Worker 0] Worker 0 house 1 episode 166 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:10:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:26 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]
+05/11 21:10:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:26 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]
+05/11 21:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125894m	[env.py: 870]
+05/11 21:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=261.9ms, total=262.0ms	[env.py: 1105]
+05/11 21:10:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:10:26 ERROR: [Worker 0] Worker 0 house 1 episode 167 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:10:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:10:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:28 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]
+05/11 21:10:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:28 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]
+05/11 21:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169763m	[env.py: 870]
+05/11 21:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=245.1ms, total=245.2ms	[env.py: 1105]
+05/11 21:10:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:10:28 ERROR: [Worker 0] Worker 0 house 1 episode 168 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:10:28 INFO: [Worker 0] Worker 0 house 1 episode 163 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:10:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:30 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]
+05/11 21:10:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129374m	[env.py: 870]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23549501 -0.9529329  -0.129374  ] yaw=-37.7deg	[env.py: 1019]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.28949323 -1.23486918 -0.129374  ] yaw=-31.6deg	[env.py: 1019]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:10:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.0ms, total=248.1ms	[env.py: 1075]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -0.953, -0.129)	[env.py: 1079]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg	[env.py: 1082]
+05/11 21:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/11 21:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:10:30 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:10:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:10:30 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]
+05/11 21:10:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:10:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:10:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.730s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:10:33 ERROR: [Worker 0] Worker 0 house 1 episode 169 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:10:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:34 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]
+05/11 21:10:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:34 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]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107513m	[env.py: 870]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3997478  -0.81443325 -0.10751284] yaw=-61.2deg	[env.py: 1019]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:10:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.4ms, total=265.5ms	[env.py: 1075]
+05/11 21:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -0.814, -0.108)	[env.py: 1079]
+05/11 21:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg	[env.py: 1082]
+05/11 21:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/11 21:10:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:10:35 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:10:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:10:35 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]
+05/11 21:10:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:10:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:10:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.705s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:10:37 ERROR: [Worker 0] Worker 0 house 1 episode 170 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:10:38 INFO: [Worker 0] Object is not in grasp! 0.00135 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 21:10:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:10:38 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]
+05/11 21:10:38 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:10:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 382 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:10:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:38 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]
+05/11 21:10:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:38 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]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142184m	[env.py: 870]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:10:38 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.132[m] 3.412[deg]	[grasp_sample.py: 539]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21892779 -1.07642305 -0.14218433] yaw=-53.3deg	[env.py: 1019]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:10:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:10:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=316.3ms, total=316.4ms	[env.py: 1075]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.076, -0.142)	[env.py: 1079]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg	[env.py: 1082]
+05/11 21:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/11 21:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:10:39 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:10:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:10:39 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]
+05/11 21:10:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:10:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:10:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:10:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:10:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:10:42 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.718[m] 84.107[deg]	[grasp_sample.py: 539]
+05/11 21:10:44 ERROR: [Worker 0] Worker 0 house 1 episode 171 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:10:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:10:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:10:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:10:46 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]
+05/11 21:10:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:10:46 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]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120462m	[env.py: 870]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:10:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50503955 -0.82361757 -0.12046165] yaw=-65.7deg	[env.py: 1019]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:10:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=408.6ms, total=408.6ms	[env.py: 1075]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.505, -0.824, -0.120)	[env.py: 1079]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.7 deg	[env.py: 1082]
+05/11 21:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/11 21:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:10:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:10:46 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:10:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:10:46 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]
+05/11 21:10:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:10:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:10:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:10:55 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:10:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 21:10:55 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/11 21:10:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:11:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:11:02 INFO: [Worker 0] Worker 0 house 1 episode 153 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 21:11:02 INFO: [Worker 0] [PROFILE] Episode 153 house 1 success=False episode_total=1.07s:
+  episode_total: mean=160.05s, total=320.11s, count=2, min=149711.5ms, max=170395.6ms
+  sensor_polling: mean=442.3ms, total=203.45s, count=460, min=288.7ms, max=811.2ms
+  physics_step: mean=27.3ms, total=12.54s, count=460, min=19.7ms, max=89.6ms
+  task_sampling: mean=536.4ms, total=1.07s, count=2, min=420.7ms, max=652.0ms
+  task_specific_sample: mean=532.8ms, total=1.07s, count=2, min=417.2ms, max=648.4ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.4ms, max=2.2ms
+  mj_forward_sync: mean=496.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:11:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:04 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]
+05/11 21:11:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:04 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]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179125m	[env.py: 870]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32857859 -0.95956419 -0.17912473] yaw=-46.9deg	[env.py: 1019]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21228433 -1.05343805 -0.17912473] yaw=-51.0deg	[env.py: 1019]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.58577861 -0.72451127 -0.17912473] yaw=-76.8deg	[env.py: 1019]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:11:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.4ms, total=197.5ms	[env.py: 1075]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -0.960, -0.179)	[env.py: 1079]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg	[env.py: 1082]
+05/11 21:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/11 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:11:04 INFO: [Worker 0] Worker 0 house 1 episode 154/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:11:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:11:04 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]
+05/11 21:11:04 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:11:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:11:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.445s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:11:08 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.776[m] 89.377[deg]	[grasp_sample.py: 539]
+05/11 21:11:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 22.577s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:11:09 ERROR: [Worker 0] Worker 0 house 1 episode 172 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 21:11:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:11:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:11:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.39s (batch: 3.69s, save: 10.70s)	[pipeline.py: 300]
+05/11 21:11:10 ERROR: [Worker 0] Worker 0 house 1 episode 154 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:11:10 INFO: [Worker 0] [PROFILE] Episode 163 house 1 success=True episode_total=1.00s:
+  episode_total: mean=31.73s, total=190.40s, count=6, min=222.7ms, max=179506.9ms
+  sensor_polling: mean=439.0ms, total=118.97s, count=271, min=293.4ms, max=787.7ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10701.1ms, max=10701.1ms
+  physics_step: mean=27.3ms, total=7.39s, count=271, min=20.1ms, max=61.1ms
+  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3688.0ms, max=3688.0ms
+  task_specific_sample: mean=380.3ms, total=2.28s, count=6, min=219.8ms, max=620.5ms
+  task_sampling_failed: mean=326.2ms, total=1.30s, count=4, min=222.7ms, max=623.7ms
+  task_sampling: mean=498.6ms, total=997.3ms, count=2, min=487.8ms, max=509.5ms
+  scene_randomize: mean=1.3ms, total=8.0ms, count=6, min=0.9ms, max=2.6ms
+  mj_forward_sync: mean=464.0us, total=2.8ms, count=6, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.2us, total=0.0ms, count=2, 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]
+05/11 21:11:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:11 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]
+05/11 21:11:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:11 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]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196796m	[env.py: 870]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59266502 -0.83977475 -0.19679581] yaw=-58.0deg	[env.py: 1019]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43961538 -0.91156277 -0.19679581] yaw=-53.2deg	[env.py: 1019]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:11:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=447.2ms, total=447.2ms	[env.py: 1075]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.593, -0.840, -0.197)	[env.py: 1079]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg	[env.py: 1082]
+05/11 21:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/11 21:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:11:12 INFO: [Worker 0] Worker 0 house 1 episode 173/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:11:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:12 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]
+05/11 21:11:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:12 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]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148904m	[env.py: 870]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:12 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]
+05/11 21:11:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 22.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:12 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]
+05/11 21:11:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:12 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]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176683m	[env.py: 870]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2458239  -0.94464098 -0.14890393] yaw=-46.6deg	[env.py: 1019]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.194s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54554543 -0.95319859 -0.17668329] yaw=-51.3deg	[env.py: 1019]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:11:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=264.4ms, total=264.5ms	[env.py: 1075]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.546, -0.953, -0.177)	[env.py: 1079]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg	[env.py: 1082]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:11:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=734.5ms, total=734.6ms	[env.py: 1075]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.246, -0.945, -0.149)	[env.py: 1079]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg	[env.py: 1082]
+05/11 21:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:11:12 INFO: [Worker 0] Worker 0 house 1 episode 164/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:11:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:11:12 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]
+05/11 21:11:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:11:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:11:13 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:11:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:11:13 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]
+05/11 21:11:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:11:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:11:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:11:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.690s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:11:14 ERROR: [Worker 0] Worker 0 house 1 episode 155 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:11:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.402s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:11:15 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.726[m] 94.847[deg]	[grasp_sample.py: 539]
+05/11 21:11:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:16 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]
+05/11 21:11:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:16 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]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186095m	[env.py: 870]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37801694 -0.84849507 -0.18609452] yaw=-65.3deg	[env.py: 1019]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:11:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=738.9ms, total=738.9ms	[env.py: 1075]
+05/11 21:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.378, -0.848, -0.186)	[env.py: 1079]
+05/11 21:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg	[env.py: 1082]
+05/11 21:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/11 21:11:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.906s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:11:17 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.672[m] 79.730[deg]	[grasp_sample.py: 539]
+05/11 21:11:17 ERROR: [Worker 0] Worker 0 house 1 episode 173 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:11:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:11:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:11:17 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:11:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:11:17 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]
+05/11 21:11:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:11:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:11:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:11:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:11:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:18 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]
+05/11 21:11:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:18 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]
+05/11 21:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136401m	[env.py: 870]
+05/11 21:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=516.3ms, total=516.4ms	[env.py: 1105]
+05/11 21:11:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:11:19 ERROR: [Worker 0] Worker 0 house 1 episode 174 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:11:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.810s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:11:19 ERROR: [Worker 0] Worker 0 house 1 episode 156 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:11:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:20 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]
+05/11 21:11:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:20 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]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137629m	[env.py: 870]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23982339 -1.05605892 -0.13762898] yaw=-33.5deg	[env.py: 1019]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29999721 -1.0045761  -0.13762898] yaw=-45.9deg	[env.py: 1019]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:11:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:20 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]
+05/11 21:11:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:20 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]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179131m	[env.py: 870]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:11:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=473.5ms, total=473.6ms	[env.py: 1075]
+05/11 21:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.240, -1.056, -0.138)	[env.py: 1079]
+05/11 21:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.5 deg	[env.py: 1082]
+05/11 21:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/11 21:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:11:21 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:11:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.190s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:11:21 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]
+05/11 21:11:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=674.8ms, total=674.8ms	[env.py: 1105]
+05/11 21:11:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:11:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:11:21 ERROR: [Worker 0] Worker 0 house 1 episode 157 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:11:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:11:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:11:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:23 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]
+05/11 21:11:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138554m	[env.py: 870]
+05/11 21:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=240.0ms, total=240.1ms	[env.py: 1105]
+05/11 21:11:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:11:23 ERROR: [Worker 0] Worker 0 house 1 episode 158 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:11:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:24 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]
+05/11 21:11:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:24 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]
+05/11 21:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139836m	[env.py: 870]
+05/11 21:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=288.0ms, total=288.1ms	[env.py: 1105]
+05/11 21:11:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:11:25 ERROR: [Worker 0] Worker 0 house 1 episode 159 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:11:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:26 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]
+05/11 21:11:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:26 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]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126108m	[env.py: 870]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44106905 -0.99605365 -0.12610842] yaw=-54.1deg	[env.py: 1019]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:11:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=333.5ms, total=333.6ms	[env.py: 1075]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -0.996, -0.126)	[env.py: 1079]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.1 deg	[env.py: 1082]
+05/11 21:11:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/11 21:11:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:11:27 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:11:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:11:27 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]
+05/11 21:11:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:11:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:11:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:11:28 INFO: [Worker 0] Feasible grasp found 511 (originally 511): w/ 0.773[m] 86.362[deg]	[grasp_sample.py: 539]
+05/11 21:11:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.735s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:11:29 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.700[m] 99.393[deg]	[grasp_sample.py: 539]
+05/11 21:11:29 ERROR: [Worker 0] Worker 0 house 1 episode 175 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:11:30 ERROR: [Worker 0] Worker 0 house 1 episode 160 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:11:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:31 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]
+05/11 21:11:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118275m	[env.py: 870]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=334.8ms, total=334.9ms	[env.py: 1105]
+05/11 21:11:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:11:31 ERROR: [Worker 0] Worker 0 house 1 episode 176 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:11:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:31 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]
+05/11 21:11:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:31 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]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139539m	[env.py: 870]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=429.2ms, total=429.3ms	[env.py: 1105]
+05/11 21:11:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:11:32 ERROR: [Worker 0] Worker 0 house 1 episode 161 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:11:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:33 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]
+05/11 21:11:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:33 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]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192569m	[env.py: 870]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=238.3ms, total=238.3ms	[env.py: 1105]
+05/11 21:11:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:11:33 ERROR: [Worker 0] Worker 0 house 1 episode 177 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:11:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:11:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:33 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]
+05/11 21:11:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:33 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]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148113m	[env.py: 870]
+05/11 21:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=304.2ms, total=304.3ms	[env.py: 1105]
+05/11 21:11:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:11:34 ERROR: [Worker 0] Worker 0 house 1 episode 162 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:35 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]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124648m	[env.py: 870]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33460278 -1.12742324 -0.12464774] yaw=-49.7deg	[env.py: 1019]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:11:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.3ms, total=235.3ms	[env.py: 1075]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -1.127, -0.125)	[env.py: 1079]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg	[env.py: 1082]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:11:35 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:11:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:11:35 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]
+05/11 21:11:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:11:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:11:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:11:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:11:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127730m	[env.py: 870]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63627792 -0.97903661 -0.1277301 ] yaw=-77.3deg	[env.py: 1019]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23333083 -1.06800331 -0.1277301 ] yaw=-47.1deg	[env.py: 1019]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:11:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=307.9ms, total=307.9ms	[env.py: 1075]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.979, -0.128)	[env.py: 1079]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.3 deg	[env.py: 1082]
+05/11 21:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:11:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:11:36 INFO: [Worker 0] Worker 0 house 1 episode 163/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:11:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:11:36 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]
+05/11 21:11:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:11:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:11:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:11:38 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.613[m] 90.141[deg]	[grasp_sample.py: 539]
+05/11 21:11:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:11:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:11:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:11:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:11:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:11:39 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.700[m] 85.922[deg]	[grasp_sample.py: 539]
+05/11 21:11:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:11:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:11:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:11:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:11:55 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 21:11:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:11:55 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]
+05/11 21:11:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:11:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 370 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:11:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:11:55 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.053[m] 2.133[deg]	[grasp_sample.py: 539]
+05/11 21:11:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:11:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:11:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:11:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:12:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:12:11 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]
+05/11 21:12:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:12:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:12:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:12:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.999s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:12:13 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.466[m] 65.127[deg]	[grasp_sample.py: 539]
+05/11 21:12:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:12:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:12:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:12:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:12:29 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]
+05/11 21:12:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:12:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:12:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.004s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:12:32 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.466[m] 65.127[deg]	[grasp_sample.py: 539]
+05/11 21:12:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:12:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:12:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:12:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:12:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:12:46 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]
+05/11 21:12:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:12:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:12:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:12:48 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.466[m] 65.127[deg]	[grasp_sample.py: 539]
+05/11 21:12:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:12:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:12:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:12:50 INFO: [Worker 0] Worker 0 house 1 episode 129 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:12:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:12:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:12:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:13:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:13:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:13:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:13:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:13:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:13:04 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 21:13:04 INFO: [Worker 0] Worker 0 house 1 episode 163 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 21:13:04 INFO: [Worker 0] [PROFILE] Episode 163 house 1 success=False episode_total=3.69s:
+  episode_total: mean=10.65s, total=106.49s, count=10, min=249.4ms, max=88983.2ms
+  sensor_polling: mean=453.4ms, total=31.29s, count=69, min=382.7ms, max=691.6ms
+  task_specific_sample: mean=564.4ms, total=5.64s, count=10, min=246.3ms, max=1028.6ms
+  task_sampling: mean=737.8ms, total=3.69s, count=5, min=447.2ms, max=1031.6ms
+  task_sampling_failed: mean=396.9ms, total=1.98s, count=5, min=249.4ms, max=684.5ms
+  physics_step: mean=22.4ms, total=1.55s, count=69, min=13.4ms, max=30.4ms
+  scene_randomize: mean=1.2ms, total=11.6ms, count=10, min=1.0ms, max=1.4ms
+  mj_forward_sync: mean=501.8us, total=5.0ms, count=10, min=0.4ms, max=0.7ms
+  policy_setup: mean=13.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:13:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:13:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:13:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:13:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:13:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:13:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:13:06 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]
+05/11 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129366m	[env.py: 870]
+05/11 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:13:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=439.3ms, total=439.4ms	[env.py: 1105]
+05/11 21:13:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:13:06 ERROR: [Worker 0] Worker 0 house 1 episode 164 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:13:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:13:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:13:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:13:08 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]
+05/11 21:13:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:13:08 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]
+05/11 21:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140070m	[env.py: 870]
+05/11 21:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:13:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=812.9ms, total=813.0ms	[env.py: 1105]
+05/11 21:13:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:13:09 ERROR: [Worker 0] Worker 0 house 1 episode 165 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:13:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:13:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:13:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:13:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:13:10 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]
+05/11 21:13:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:13:10 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]
+05/11 21:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191129m	[env.py: 870]
+05/11 21:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:13:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59905847 -0.77934434 -0.19112908] yaw=-76.7deg	[env.py: 1019]
+05/11 21:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:13:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=489.4ms, total=489.5ms	[env.py: 1075]
+05/11 21:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.779, -0.191)	[env.py: 1079]
+05/11 21:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.7 deg	[env.py: 1082]
+05/11 21:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/11 21:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:13:11 INFO: [Worker 0] Worker 0 house 1 episode 166/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:13:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:13:11 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]
+05/11 21:13:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:13:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:13:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.919s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:13:16 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.760[m] 83.875[deg]	[grasp_sample.py: 539]
+05/11 21:13:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:13:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:13:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:13:21 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:13:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 21:13:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 21:13:36 INFO: [Worker 0] Worker 0 house 1 episode 164 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:13:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:13:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:13:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.54s (batch: 4.41s, save: 12.13s)	[pipeline.py: 300]
+05/11 21:13:39 INFO: [Worker 0] [PROFILE] Episode 129 house 1 success=True episode_total=0.89s:
+  episode_total: mean=102.54s, total=205.07s, count=2, min=265.6ms, max=204804.9ms
+  sensor_polling: mean=463.6ms, total=139.07s, count=300, min=299.8ms, max=1048.6ms
+  save_trajectories: mean=12.13s, total=12.13s, count=1, min=12127.4ms, max=12127.4ms
+  physics_step: mean=29.6ms, total=8.87s, count=300, min=19.8ms, max=123.9ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.5ms, max=4411.5ms
+  task_specific_sample: mean=574.2ms, total=1.15s, count=2, min=261.0ms, max=887.3ms
+  task_sampling: mean=889.6ms, total=889.6ms, count=1, min=889.6ms, max=889.6ms
+  task_sampling_failed: mean=265.6ms, total=265.6ms, count=1, min=265.6ms, max=265.6ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.0ms, max=2.4ms
+  mj_forward_sync: mean=426.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:13:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:13:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:13:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:13:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:13:40 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]
+05/11 21:13:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:13:40 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]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160238m	[env.py: 870]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:13:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23837652 -0.95402382 -0.16023825] yaw=-53.7deg	[env.py: 1019]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:13:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=229.8ms, total=229.9ms	[env.py: 1075]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.238, -0.954, -0.160)	[env.py: 1079]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.7 deg	[env.py: 1082]
+05/11 21:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/11 21:13:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:13:41 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:13:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:13:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:13:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:13:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:13:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.369s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:13:42 ERROR: [Worker 0] Worker 0 house 1 episode 130 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:13:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:13:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:13:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:13:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:13:44 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]
+05/11 21:13:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:13:44 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]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178475m	[env.py: 870]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:13:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29807039 -0.91292269 -0.17847543] yaw=-51.2deg	[env.py: 1019]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:13:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=484.7ms, total=484.7ms	[env.py: 1075]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -0.913, -0.178)	[env.py: 1079]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg	[env.py: 1082]
+05/11 21:13:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/11 21:13:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:13:44 INFO: [Worker 0] Worker 0 house 1 episode 131/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:13:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:13:44 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]
+05/11 21:13:44 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:13:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:13:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.453s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:13:46 ERROR: [Worker 0] Worker 0 house 1 episode 131 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:13:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:13:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:13:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:13:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:13:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:13:47 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]
+05/11 21:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131516m	[env.py: 870]
+05/11 21:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:13:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=342.7ms, total=342.8ms	[env.py: 1105]
+05/11 21:13:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:13:48 ERROR: [Worker 0] Worker 0 house 1 episode 132 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:13:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:13:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:13:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:13:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:13:50 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]
+05/11 21:13:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:13:50 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]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120090m	[env.py: 870]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:13:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38873531 -0.79458602 -0.12008971] yaw=-49.2deg	[env.py: 1019]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:13:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=288.0ms, total=288.0ms	[env.py: 1075]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.389, -0.795, -0.120)	[env.py: 1079]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg	[env.py: 1082]
+05/11 21:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/11 21:13:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:13:50 INFO: [Worker 0] Worker 0 house 1 episode 133/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:13:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:13:50 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]
+05/11 21:13:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:13:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:13:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.832s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:13:52 ERROR: [Worker 0] Worker 0 house 1 episode 133 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:13:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:13:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:13:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:13:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:13:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:13:54 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]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186554m	[env.py: 870]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:13:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49761223 -0.84163548 -0.18655395] yaw=-70.2deg	[env.py: 1019]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16125323 -0.97203496 -0.18655395] yaw=-53.0deg	[env.py: 1019]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:13:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=265.9ms, total=266.0ms	[env.py: 1075]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.498, -0.842, -0.187)	[env.py: 1079]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg	[env.py: 1082]
+05/11 21:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/11 21:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:13:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:13:54 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:13:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:13:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:13:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:13:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:13:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.917s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:13:57 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.737[m] 80.047[deg]	[grasp_sample.py: 539]
+05/11 21:13:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:13:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:13:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:14:04 INFO: [Worker 0] Worker 0 house 1 episode 178 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:14:05 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:14:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 21:14:05 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/11 21:14:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:14:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:14:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.14s (batch: 4.82s, save: 11.32s)	[pipeline.py: 300]
+05/11 21:14:22 INFO: [Worker 0] [PROFILE] Episode 164 house 1 success=True episode_total=0.66s:
+  episode_total: mean=190.25s, total=190.25s, count=1, min=190246.7ms, max=190246.7ms
+  sensor_polling: mean=472.9ms, total=127.68s, count=270, min=283.3ms, max=903.8ms
+  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11323.7ms, max=11323.7ms
+  physics_step: mean=29.2ms, total=7.88s, count=270, min=18.7ms, max=118.1ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4815.6ms, max=4815.6ms
+  task_sampling: mean=659.6ms, total=659.6ms, count=1, min=659.6ms, max=659.6ms
+  task_specific_sample: mean=654.8ms, total=654.8ms, count=1, min=654.8ms, max=654.8ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=584.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=32.8us, 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]
+05/11 21:14:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:14:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:14:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:14:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:14:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:14:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:14:24 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]
+05/11 21:14:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:14:24 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]
+05/11 21:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119565m	[env.py: 870]
+05/11 21:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:14:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=212.4ms, total=212.5ms	[env.py: 1105]
+05/11 21:14:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:14:24 ERROR: [Worker 0] Worker 0 house 1 episode 165 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:14:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:14:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:14:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:14:25 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]
+05/11 21:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:14:25 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]
+05/11 21:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108638m	[env.py: 870]
+05/11 21:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=188.5ms, total=188.6ms	[env.py: 1105]
+05/11 21:14:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:14:26 ERROR: [Worker 0] Worker 0 house 1 episode 166 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:14:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:14:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:14:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:14:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:14:27 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]
+05/11 21:14:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:14:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181475m	[env.py: 870]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:14:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55884471 -0.93523322 -0.18147496] yaw=-70.6deg	[env.py: 1019]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -88.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:14:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=382.0ms, total=382.1ms	[env.py: 1075]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.559, -0.935, -0.181)	[env.py: 1079]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg	[env.py: 1082]
+05/11 21:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/11 21:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:14:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:14:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:14:28 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:14:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.153s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:14:28 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]
+05/11 21:14:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:14:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:14:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:14:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:14:31 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]
+05/11 21:14:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:14:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:14:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.761s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:14:33 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.693[m] 98.776[deg]	[grasp_sample.py: 539]
+05/11 21:14:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:14:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.066s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:14:33 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.106[m] 5.315[deg]	[grasp_sample.py: 539]
+05/11 21:14:33 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:14:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 21:14:33 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/11 21:14:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:14:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:14:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:14:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:14:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:14:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:14:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:14:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:14:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:14:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:14:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:14:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:14:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.20s (batch: 4.68s, save: 11.52s)	[pipeline.py: 300]
+05/11 21:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:14:50 INFO: [Worker 0] [PROFILE] Episode 178 house 1 success=True episode_total=6.39s:
+  episode_total: mean=13.76s, total=261.53s, count=19, min=248.0ms, max=195734.0ms
+  sensor_polling: mean=474.5ms, total=131.44s, count=277, min=327.3ms, max=821.1ms
+  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11521.1ms, max=11521.1ms
+  task_specific_sample: mean=500.7ms, total=9.51s, count=19, min=244.7ms, max=934.4ms
+  physics_step: mean=29.7ms, total=8.24s, count=277, min=20.0ms, max=80.9ms
+  task_sampling: mean=639.4ms, total=6.39s, count=10, min=472.8ms, max=937.0ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4678.3ms, max=4678.3ms
+  task_sampling_failed: mean=352.9ms, total=3.18s, count=9, min=248.0ms, max=525.2ms
+  scene_randomize: mean=1.2ms, total=23.6ms, count=19, min=0.9ms, max=2.3ms
+  mj_forward_sync: mean=499.4us, total=9.5ms, count=19, min=0.4ms, max=0.6ms
+  policy_setup: mean=14.4us, total=0.1ms, count=10, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:14:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:14:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:14:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:14:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:14:52 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]
+05/11 21:14:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:14:52 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]
+05/11 21:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153359m	[env.py: 870]
+05/11 21:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:14:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=230.4ms, total=230.4ms	[env.py: 1105]
+05/11 21:14:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:14:52 ERROR: [Worker 0] Worker 0 house 1 episode 179 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:14:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:14:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:14:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:14:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:14:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:14:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:14:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:14:53 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]
+05/11 21:14:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:14:53 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]
+05/11 21:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172285m	[env.py: 870]
+05/11 21:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:14:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:14:53 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]
+05/11 21:14:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -115.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17678314 -1.07889437 -0.17228459] yaw=-50.8deg	[env.py: 1019]
+05/11 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:14:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:14:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=228.0ms, total=228.1ms	[env.py: 1075]
+05/11 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -1.079, -0.172)	[env.py: 1079]
+05/11 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg	[env.py: 1082]
+05/11 21:14:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/11 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:14:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:14:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:14:54 INFO: [Worker 0] Worker 0 house 1 episode 180/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:14:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:14:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:14:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:14:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:14:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.413s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:14:56 INFO: [Worker 0] Feasible grasp found 217 (originally 217): w/ 0.147[m] 10.971[deg]	[grasp_sample.py: 539]
+05/11 21:14:57 ERROR: [Worker 0] Worker 0 house 1 episode 166 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:14:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:14:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:14:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:14:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:14:59 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]
+05/11 21:14:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:14:59 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]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181416m	[env.py: 870]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:14:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17303738 -1.04477598 -0.18141579] yaw=-31.5deg	[env.py: 1019]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43783197 -1.1093545  -0.18141579] yaw=-40.1deg	[env.py: 1019]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:14:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=266.2ms, total=266.2ms	[env.py: 1075]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.045, -0.181)	[env.py: 1079]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.5 deg	[env.py: 1082]
+05/11 21:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/11 21:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:15:00 INFO: [Worker 0] Worker 0 house 1 episode 167/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:15:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:15:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:15:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:15:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.623s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:15:01 ERROR: [Worker 0] Worker 0 house 1 episode 167 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:15:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:15:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:15:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:15:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:15:03 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]
+05/11 21:15:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:15:03 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]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194190m	[env.py: 870]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:15:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.62088167 -0.89493348 -0.1941899 ] yaw=-65.5deg	[env.py: 1019]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.16440237 -1.07912635 -0.1941899 ] yaw=-34.6deg	[env.py: 1019]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:15:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.7ms, total=229.8ms	[env.py: 1075]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.621, -0.895, -0.194)	[env.py: 1079]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.5 deg	[env.py: 1082]
+05/11 21:15:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/11 21:15:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:15:03 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:15:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:15:03 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]
+05/11 21:15:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:15:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:15:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.974s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:15:04 ERROR: [Worker 0] Worker 0 house 1 episode 180 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 21:15:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:15:05 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.672[m] 81.392[deg]	[grasp_sample.py: 539]
+05/11 21:15:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:15:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:15:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:15:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:15:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:15:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:15:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:15:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:15:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:15:06 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]
+05/11 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108328m	[env.py: 870]
+05/11 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:15:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:15:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=408.8ms, total=408.8ms	[env.py: 1105]
+05/11 21:15:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:15:06 ERROR: [Worker 0] Worker 0 house 1 episode 181 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:15:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:15:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:15:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:15:08 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]
+05/11 21:15:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:15:08 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]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119050m	[env.py: 870]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:15:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59925432 -0.79295352 -0.11905034] yaw=-75.4deg	[env.py: 1019]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:15:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=248.1ms, total=248.2ms	[env.py: 1075]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.793, -0.119)	[env.py: 1079]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.4 deg	[env.py: 1082]
+05/11 21:15:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/11 21:15:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:15:08 INFO: [Worker 0] Worker 0 house 1 episode 182/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:15:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:15:08 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]
+05/11 21:15:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:15:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:15:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:15:10 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]
+05/11 21:15:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:15:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:15:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.200s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:15:12 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.121[m] 20.551[deg]	[grasp_sample.py: 539]
+05/11 21:15:14 ERROR: [Worker 0] Worker 0 house 1 episode 134 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:15:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:15:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:15:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:15:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:15:15 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]
+05/11 21:15:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:15:15 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]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176585m	[env.py: 870]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:15:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57967513 -1.00511939 -0.1765846 ] yaw=-61.9deg	[env.py: 1019]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.61371985 -0.75794237 -0.1765846 ] yaw=-71.2deg	[env.py: 1019]
+05/11 21:15:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:15:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=381.8ms, total=381.8ms	[env.py: 1075]
+05/11 21:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.580, -1.005, -0.177)	[env.py: 1079]
+05/11 21:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.9 deg	[env.py: 1082]
+05/11 21:15:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/11 21:15:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:15:16 INFO: [Worker 0] Worker 0 house 1 episode 135/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:15:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:15:16 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]
+05/11 21:15:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:15:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:15:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.909s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:15:17 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.634[m] 80.305[deg]	[grasp_sample.py: 539]
+05/11 21:15:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:15:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:15:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:15:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:15:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:15:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:15:41 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:15:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:15:42 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.495[m] 55.571[deg]	[grasp_sample.py: 539]
+05/11 21:15:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:15:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:15:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:15:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:15:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:15:45 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]
+05/11 21:15:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:15:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:15:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 37.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:15:46 INFO: [Worker 0] Feasible grasp found 77 (originally 77): w/ 0.782[m] 104.187[deg]	[grasp_sample.py: 539]
+05/11 21:15:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.688s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:15:47 INFO: [Worker 0] Feasible grasp found 257 (originally 257): w/ 0.184[m] 12.395[deg]	[grasp_sample.py: 539]
+05/11 21:15:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:15:48 ERROR: [Worker 0] Worker 0 house 1 episode 182 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:15:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:15:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:15:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:15:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:15:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:15:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:15:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:15:49 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]
+05/11 21:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186734m	[env.py: 870]
+05/11 21:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:15:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.2ms, total=232.3ms	[env.py: 1105]
+05/11 21:15:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:15:49 ERROR: [Worker 0] Worker 0 house 1 episode 183 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:15:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:15:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:15:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:15:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:15:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:15:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:15:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152183m	[env.py: 870]
+05/11 21:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:15:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=216.5ms, total=216.6ms	[env.py: 1105]
+05/11 21:15:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:15:51 ERROR: [Worker 0] Worker 0 house 1 episode 184 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:15:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:15:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:15:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:15:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:15:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:15:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117004m	[env.py: 870]
+05/11 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:15:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=230.1ms, total=230.2ms	[env.py: 1105]
+05/11 21:15:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:15:53 ERROR: [Worker 0] Worker 0 house 1 episode 185 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:15:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:15:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:15:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:15:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:15:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:15:55 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]
+05/11 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139954m	[env.py: 870]
+05/11 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:15:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=217.6ms, total=217.6ms	[env.py: 1105]
+05/11 21:15:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:15:55 ERROR: [Worker 0] Worker 0 house 1 episode 186 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:15:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:15:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:15:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:15:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:15:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:15:56 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]
+05/11 21:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142317m	[env.py: 870]
+05/11 21:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:15:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.43027167 -0.91827198 -0.14231663] yaw=-68.5deg	[env.py: 1019]
+05/11 21:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:15:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=611.1ms, total=611.2ms	[env.py: 1075]
+05/11 21:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.430, -0.918, -0.142)	[env.py: 1079]
+05/11 21:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg	[env.py: 1082]
+05/11 21:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/11 21:15:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:15:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:15:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:15:57 INFO: [Worker 0] Worker 0 house 1 episode 187/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:15:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:15:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:15:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:15:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:15:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:15:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:15:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:15:58 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]
+05/11 21:15:58 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:15:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.944s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:16:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.495[m] 55.571[deg]	[grasp_sample.py: 539]
+05/11 21:16:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:16:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:16:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.150s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:16:07 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.716[m] 97.825[deg]	[grasp_sample.py: 539]
+05/11 21:16:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:08 ERROR: [Worker 0] Worker 0 house 1 episode 187 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:16:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:16:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:16:10 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]
+05/11 21:16:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:16:10 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]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198695m	[env.py: 870]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:16:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.52306947 -0.73014834 -0.19869481] yaw=-64.6deg	[env.py: 1019]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:16:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=238.8ms, total=238.8ms	[env.py: 1075]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.730, -0.199)	[env.py: 1079]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg	[env.py: 1082]
+05/11 21:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/11 21:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:16:10 INFO: [Worker 0] Worker 0 house 1 episode 188/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:16:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:16:10 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]
+05/11 21:16:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.688s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:16:12 ERROR: [Worker 0] Worker 0 house 1 episode 188 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:16:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:16:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:16:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:16:13 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]
+05/11 21:16:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:16:13 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]
+05/11 21:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122930m	[env.py: 870]
+05/11 21:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:16:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49443324 -0.86706483 -0.12293016] yaw=-56.7deg	[env.py: 1019]
+05/11 21:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:16:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=222.2ms, total=222.3ms	[env.py: 1075]
+05/11 21:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.867, -0.123)	[env.py: 1079]
+05/11 21:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg	[env.py: 1082]
+05/11 21:16:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/11 21:16:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:16:14 INFO: [Worker 0] Worker 0 house 1 episode 189/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:16:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:16:14 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]
+05/11 21:16:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:16:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:16:16 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]
+05/11 21:16:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.188s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:16:16 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.740[m] 81.970[deg]	[grasp_sample.py: 539]
+05/11 21:16:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:16:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:16:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:16:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:16:18 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.495[m] 55.571[deg]	[grasp_sample.py: 539]
+05/11 21:16:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:16:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:16:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:16:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:16:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:16:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 335 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.481s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:16:29 INFO: [Worker 0] Feasible grasp found 280 (originally 280): w/ 0.062[m] 0.768[deg]	[grasp_sample.py: 539]
+05/11 21:16:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:16:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:16:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:16:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:16:32 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 21:16:33 INFO: [Worker 0] Worker 0 house 1 episode 168 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 21:16:33 INFO: [Worker 0] [PROFILE] Episode 168 house 1 success=False episode_total=1.83s:
+  episode_total: mean=40.19s, total=200.95s, count=5, min=460.5ms, max=107098.2ms
+  sensor_polling: mean=449.0ms, total=105.95s, count=236, min=303.0ms, max=705.4ms
+  physics_step: mean=26.1ms, total=6.17s, count=236, min=13.1ms, max=134.6ms
+  task_specific_sample: mean=618.3ms, total=3.09s, count=5, min=446.9ms, max=820.8ms
+  task_sampling: mean=610.9ms, total=1.83s, count=3, min=466.3ms, max=775.5ms
+  task_sampling_failed: mean=642.8ms, total=1.29s, count=2, min=460.4ms, max=825.2ms
+  scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=499.7us, total=2.5ms, count=5, 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=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:16:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:16:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:16:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:16:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:16:35 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]
+05/11 21:16:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:16:35 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]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187577m	[env.py: 870]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:16:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58813686 -0.7218989  -0.18757696] yaw=-75.2deg	[env.py: 1019]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22458523 -1.09111055 -0.18757696] yaw=-49.6deg	[env.py: 1019]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:16:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=302.7ms, total=302.7ms	[env.py: 1075]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.588, -0.722, -0.188)	[env.py: 1079]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.2 deg	[env.py: 1082]
+05/11 21:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/11 21:16:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:16:35 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:16:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:16:35 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]
+05/11 21:16:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.768s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:16:37 ERROR: [Worker 0] Worker 0 house 1 episode 169 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:16:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:16:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:16:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:16:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:16:39 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]
+05/11 21:16:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:16:39 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]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126183m	[env.py: 870]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:16:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46333108 -0.79484263 -0.12618323] yaw=-58.9deg	[env.py: 1019]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:16:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=249.4ms, total=249.5ms	[env.py: 1075]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -0.795, -0.126)	[env.py: 1079]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg	[env.py: 1082]
+05/11 21:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/11 21:16:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:16:39 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:16:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:16:39 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]
+05/11 21:16:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.703s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:16:41 ERROR: [Worker 0] Worker 0 house 1 episode 170 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:16:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:16:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:16:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:16:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:16:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:16:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199066m	[env.py: 870]
+05/11 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:16:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=304.3ms, total=304.3ms	[env.py: 1105]
+05/11 21:16:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:16:43 ERROR: [Worker 0] Worker 0 house 1 episode 171 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:16:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:16:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:16:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:16:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:16:44 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]
+05/11 21:16:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:16:44 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]
+05/11 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186456m	[env.py: 870]
+05/11 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:16:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=741.9ms, total=742.0ms	[env.py: 1105]
+05/11 21:16:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:16:45 ERROR: [Worker 0] Worker 0 house 1 episode 172 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:16:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:16:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:16:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:16:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:16:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:16:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:16:47 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]
+05/11 21:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120070m	[env.py: 870]
+05/11 21:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:16:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=358.3ms, total=358.4ms	[env.py: 1105]
+05/11 21:16:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:16:47 ERROR: [Worker 0] Worker 0 house 1 episode 173 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:16:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:16:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:16:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:16:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:16:48 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]
+05/11 21:16:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:16:48 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]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119761m	[env.py: 870]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:16:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28308844 -0.93096504 -0.11976072] yaw=-45.9deg	[env.py: 1019]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56069599 -1.03072429 -0.11976072] yaw=-65.8deg	[env.py: 1019]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1808438  -1.04106473 -0.11976072] yaw=-33.2deg	[env.py: 1019]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:16:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.5ms, total=144.5ms	[env.py: 1075]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.283, -0.931, -0.120)	[env.py: 1079]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg	[env.py: 1082]
+05/11 21:16:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/11 21:16:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:16:49 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:16:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:16:49 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]
+05/11 21:16:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.658s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:16:50 ERROR: [Worker 0] Worker 0 house 1 episode 174 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:16:50 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 21:16:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:16:50 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]
+05/11 21:16:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 374 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.356s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:16:51 INFO: [Worker 0] Feasible grasp found 264 (originally 264): w/ 0.054[m] 2.061[deg]	[grasp_sample.py: 539]
+05/11 21:16:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:16:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:16:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:16:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:16:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:16:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:16:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:16:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:16:52 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]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102987m	[env.py: 870]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:16:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49017212 -0.91051105 -0.10298731] yaw=-58.0deg	[env.py: 1019]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45430537 -0.83496912 -0.10298731] yaw=-50.2deg	[env.py: 1019]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:16:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=260.7ms, total=260.7ms	[env.py: 1075]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.490, -0.911, -0.103)	[env.py: 1079]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg	[env.py: 1082]
+05/11 21:16:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/11 21:16:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:16:52 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:16:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:16:52 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]
+05/11 21:16:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:53 INFO: [Worker 0] Object is not in grasp! 0.00092 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 21:16:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:16:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:16:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 507 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:16:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.833s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:16:55 INFO: [Worker 0] Feasible grasp found 307 (originally 307): w/ 0.207[m] 11.164[deg]	[grasp_sample.py: 539]
+05/11 21:16:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.218s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:16:56 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.764[m] 89.234[deg]	[grasp_sample.py: 539]
+05/11 21:16:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:16:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:16:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:16:57 ERROR: [Worker 0] Worker 0 house 1 episode 167 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:16:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:16:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:16:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:16:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:16:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:16:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:16:58 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]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181090m	[env.py: 870]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:16:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4364882  -1.01439014 -0.18108993] yaw=-61.8deg	[env.py: 1019]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:16:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.2ms, total=222.3ms	[env.py: 1075]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.436, -1.014, -0.181)	[env.py: 1079]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg	[env.py: 1082]
+05/11 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/11 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:16:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:16:58 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:16:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:16:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:16:59 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:16:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:17:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.618s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:17:00 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.675[m] 94.173[deg]	[grasp_sample.py: 539]
+05/11 21:17:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:17:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:17:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:17:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:17:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:17:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:17:37 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]
+05/11 21:17:37 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:17:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:17:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.887s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:17:39 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.164[m] 20.882[deg]	[grasp_sample.py: 539]
+05/11 21:17:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:17:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:17:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:17:40 INFO: [Worker 0] Worker 0 house 1 episode 135 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:18:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:18:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:18:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:18:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:18:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.355s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:18:04 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.135[m] 20.789[deg]	[grasp_sample.py: 539]
+05/11 21:18:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:18:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:18:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:11 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:18:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 21:18:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 21:18:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:18:12 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]
+05/11 21:18:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:18:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:18:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:18:13 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.160[m] 14.577[deg]	[grasp_sample.py: 539]
+05/11 21:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:14 ERROR: [Worker 0] Worker 0 house 1 episode 175 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:18:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:18:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:18:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:18:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:18:16 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]
+05/11 21:18:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:18:16 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]
+05/11 21:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119980m	[env.py: 870]
+05/11 21:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:18:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.3ms, total=232.3ms	[env.py: 1105]
+05/11 21:18:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:18:16 ERROR: [Worker 0] Worker 0 house 1 episode 176 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:18:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:18:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:18:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:18:18 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]
+05/11 21:18:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:18:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160841m	[env.py: 870]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:18:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26622015 -1.00159703 -0.16084122] yaw=-47.3deg	[env.py: 1019]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -124.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:18:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=292.4ms, total=292.5ms	[env.py: 1075]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -1.002, -0.161)	[env.py: 1079]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg	[env.py: 1082]
+05/11 21:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/11 21:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:18:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:18:18 INFO: [Worker 0] Worker 0 house 1 episode 177/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:18:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:18:18 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]
+05/11 21:18:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:18:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:18:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:18:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.881s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:18:21 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.740[m] 87.678[deg]	[grasp_sample.py: 539]
+05/11 21:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:18:23 ERROR: [Worker 0] Worker 0 house 1 episode 177 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:18:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:18:23 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]
+05/11 21:18:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:18:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:18:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:18:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:18:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:18:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:18:24 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]
+05/11 21:18:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:18:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128143m	[env.py: 870]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:18:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -144.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.22331598 -1.07927046 -0.12814269] yaw=-45.0deg	[env.py: 1019]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:18:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=264.2ms, total=264.2ms	[env.py: 1075]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.223, -1.079, -0.128)	[env.py: 1079]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.0 deg	[env.py: 1082]
+05/11 21:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/11 21:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:18:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:18:25 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:18:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:18:25 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]
+05/11 21:18:25 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:18:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:18:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:18:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:18:27 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.746[m] 77.959[deg]	[grasp_sample.py: 539]
+05/11 21:18:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:18:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:18:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:18:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:18:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:18:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.87s (batch: 4.76s, save: 12.11s)	[pipeline.py: 300]
+05/11 21:18:28 INFO: [Worker 0] [PROFILE] Episode 135 house 1 success=True episode_total=3.01s:
+  episode_total: mean=46.74s, total=280.43s, count=6, min=352.0ms, max=193238.8ms
+  sensor_polling: mean=431.8ms, total=190.85s, count=442, min=271.6ms, max=866.9ms
+  save_trajectories: mean=12.11s, total=12.11s, count=1, min=12109.5ms, max=12109.5ms
+  physics_step: mean=26.8ms, total=11.86s, count=442, min=19.7ms, max=62.9ms
+  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4762.2ms, max=4762.2ms
+  task_specific_sample: mean=556.3ms, total=3.34s, count=6, min=348.3ms, max=711.4ms
+  task_sampling: mean=601.0ms, total=3.01s, count=5, min=489.0ms, max=714.0ms
+  task_sampling_failed: mean=352.0ms, total=352.0ms, count=1, min=352.0ms, max=352.0ms
+  scene_randomize: mean=1.6ms, total=9.8ms, count=6, min=1.2ms, max=3.1ms
+  mj_forward_sync: mean=507.7us, total=3.0ms, count=6, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.2us, 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]
+05/11 21:18:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:18:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:18:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:18:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:18:30 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]
+05/11 21:18:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:18:30 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]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177444m	[env.py: 870]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:18:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23486083 -0.90912424 -0.17744388] yaw=-57.4deg	[env.py: 1019]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.67833156 -0.93979165 -0.17744388] yaw=-72.3deg	[env.py: 1019]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:18:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=507.2ms, total=507.3ms	[env.py: 1075]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -0.909, -0.177)	[env.py: 1079]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.4 deg	[env.py: 1082]
+05/11 21:18:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/11 21:18:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:18:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:18:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:18:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:18:31 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:18:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:18:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:18:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:18:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:18:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.694s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:18:33 ERROR: [Worker 0] Worker 0 house 1 episode 136 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:18:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:18:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:18:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:18:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:18:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:18:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:18:34 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]
+05/11 21:18:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:18:34 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]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175978m	[env.py: 870]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:18:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41090246 -0.89279123 -0.17597834] yaw=-59.4deg	[env.py: 1019]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:18:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=237.2ms, total=237.3ms	[env.py: 1075]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -0.893, -0.176)	[env.py: 1079]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg	[env.py: 1082]
+05/11 21:18:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/11 21:18:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:18:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:18:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:18:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:18:34 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:18:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:18:34 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]
+05/11 21:18:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:18:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.167s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:18:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.902s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:18:43 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.092[m] 23.508[deg]	[grasp_sample.py: 539]
+05/11 21:18:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:18:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:18:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:18:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.351s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:18:50 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.779[m] 87.479[deg]	[grasp_sample.py: 539]
+05/11 21:18:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:18:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:18:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:18:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:18:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:19:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:19:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:19:22 INFO: [Worker 0] Worker 0 house 1 episode 168 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:19:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:19:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:19:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:19:57 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:19:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 21:19:57 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/11 21:19:58 INFO: [Worker 0] Worker 0 house 1 episode 189 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:20:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:20:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:20:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:20:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:20:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.44s (batch: 5.29s, save: 11.15s)	[pipeline.py: 300]
+05/11 21:20:15 INFO: [Worker 0] [PROFILE] Episode 168 house 1 success=True episode_total=1.27s:
+  episode_total: mean=86.72s, total=346.87s, count=4, min=198.5ms, max=196738.6ms
+  sensor_polling: mean=453.8ms, total=227.80s, count=502, min=303.5ms, max=822.3ms
+  physics_step: mean=27.7ms, total=13.93s, count=502, min=14.7ms, max=75.3ms
+  save_trajectories: mean=11.15s, total=11.15s, count=1, min=11154.1ms, max=11154.1ms
+  save_batch_prep: mean=5.29s, total=5.29s, count=1, min=5285.3ms, max=5285.3ms
+  task_specific_sample: mean=420.6ms, total=1.68s, count=4, min=195.1ms, max=780.4ms
+  task_sampling: mean=635.8ms, total=1.27s, count=2, min=488.4ms, max=783.1ms
+  task_sampling_failed: mean=212.4ms, total=424.9ms, count=2, min=198.5ms, max=226.4ms
+  scene_randomize: mean=1.5ms, total=6.2ms, count=4, min=1.0ms, max=2.7ms
+  mj_forward_sync: mean=587.2us, total=2.3ms, count=4, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:20:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:20:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:20:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:20:16 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]
+05/11 21:20:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:20:16 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]
+05/11 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146869m	[env.py: 870]
+05/11 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:20:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41320399 -0.84983112 -0.14686862] yaw=-51.4deg	[env.py: 1019]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43971002 -1.06121221 -0.14686862] yaw=-58.0deg	[env.py: 1019]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26058514 -1.07654738 -0.14686862] yaw=-44.5deg	[env.py: 1019]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:20:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=205.1ms, total=205.1ms	[env.py: 1075]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.413, -0.850, -0.147)	[env.py: 1079]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg	[env.py: 1082]
+05/11 21:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/11 21:20:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:20:17 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:20:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:20:17 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]
+05/11 21:20:17 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:20:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:20:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:20:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.493s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:20:21 ERROR: [Worker 0] Worker 0 house 1 episode 169 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 21:20:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:20:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:20:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:20:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:20:22 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]
+05/11 21:20:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:20:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188122m	[env.py: 870]
+05/11 21:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:20:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=233.9ms, total=233.9ms	[env.py: 1105]
+05/11 21:20:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:20:22 ERROR: [Worker 0] Worker 0 house 1 episode 170 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:20:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:20:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:20:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:20:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:20:24 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]
+05/11 21:20:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:20:24 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]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190960m	[env.py: 870]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:20:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40098131 -1.02801334 -0.1909604 ] yaw=-56.5deg	[env.py: 1019]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:20:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.8ms, total=236.9ms	[env.py: 1075]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.401, -1.028, -0.191)	[env.py: 1079]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg	[env.py: 1082]
+05/11 21:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/11 21:20:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:20:24 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:20:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:20:24 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]
+05/11 21:20:24 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:20:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:20:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.066s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:20:27 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.700[m] 87.268[deg]	[grasp_sample.py: 539]
+05/11 21:20:28 ERROR: [Worker 0] Worker 0 house 1 episode 171 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:20:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:20:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:20:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:20:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:20:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:20:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:20:30 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]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186825m	[env.py: 870]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:20:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25386398 -1.08108176 -0.18682547] yaw=-46.6deg	[env.py: 1019]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.13929823 -1.07314172 -0.18682547] yaw=-33.1deg	[env.py: 1019]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31915501 -1.23646783 -0.18682547] yaw=-33.7deg	[env.py: 1019]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:20:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=357.7ms, total=357.8ms	[env.py: 1075]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.254, -1.081, -0.187)	[env.py: 1079]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg	[env.py: 1082]
+05/11 21:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/11 21:20:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:20:30 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:20:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:20:30 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]
+05/11 21:20:30 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:20:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:20:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.560s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:20:32 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.727[m] 84.593[deg]	[grasp_sample.py: 539]
+05/11 21:20:32 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:20:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 21:20:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 21:20:34 ERROR: [Worker 0] Worker 0 house 1 episode 172 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:20:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:20:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:20:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:20:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:20:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:20:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:20:35 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]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141826m	[env.py: 870]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:20:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29660027 -1.04143105 -0.14182601] yaw=-42.8deg	[env.py: 1019]
+05/11 21:20:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:20:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=249.8ms, total=249.9ms	[env.py: 1075]
+05/11 21:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.041, -0.142)	[env.py: 1079]
+05/11 21:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg	[env.py: 1082]
+05/11 21:20:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/11 21:20:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:20:36 INFO: [Worker 0] Worker 0 house 1 episode 173/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:20:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:20:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:20:36 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:20:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:20:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:20:38 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.766[m] 81.554[deg]	[grasp_sample.py: 539]
+05/11 21:20:40 ERROR: [Worker 0] Worker 0 house 1 episode 173 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:20:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:20:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:20:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:20:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:20:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:20:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:20:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138350m	[env.py: 870]
+05/11 21:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:20:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28017285 -1.07501935 -0.13834966] yaw=-33.1deg	[env.py: 1019]
+05/11 21:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5019612  -0.89846881 -0.13834966] yaw=-61.1deg	[env.py: 1019]
+05/11 21:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:20:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=571.3ms, total=571.3ms	[env.py: 1075]
+05/11 21:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -1.075, -0.138)	[env.py: 1079]
+05/11 21:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.1 deg	[env.py: 1082]
+05/11 21:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/11 21:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:20:42 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:20:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:20:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:20:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:20:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:20:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.231s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:20:45 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.734[m] 90.185[deg]	[grasp_sample.py: 539]
+05/11 21:20:47 ERROR: [Worker 0] Worker 0 house 1 episode 174 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:20:47 INFO: [Worker 0] Worker 0 house 1 episode 178 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:20:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:20:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:20:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:20:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:20:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:20:48 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]
+05/11 21:20:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:20:48 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]
+05/11 21:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113587m	[env.py: 870]
+05/11 21:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:20:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:20:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:20:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.29s (batch: 4.44s, save: 11.84s)	[pipeline.py: 300]
+05/11 21:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46938401 -0.85184422 -0.11358703] yaw=-50.1deg	[env.py: 1019]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5633975  -1.02657479 -0.11358703] yaw=-62.6deg	[env.py: 1019]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:20:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=447.3ms, total=447.3ms	[env.py: 1075]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -0.852, -0.114)	[env.py: 1079]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg	[env.py: 1082]
+05/11 21:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/11 21:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:20:49 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:20:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:20:49 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]
+05/11 21:20:49 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:20:49 INFO: [Worker 0] [PROFILE] Episode 189 house 1 success=True episode_total=3.03s:
+  episode_total: mean=31.12s, total=342.30s, count=11, min=226.7ms, max=275825.1ms
+  sensor_polling: mean=481.0ms, total=144.29s, count=300, min=329.4ms, max=827.5ms
+  save_trajectories: mean=11.84s, total=11.84s, count=1, min=11843.8ms, max=11843.8ms
+  physics_step: mean=27.4ms, total=8.22s, count=300, min=13.8ms, max=80.2ms
+  task_specific_sample: mean=417.2ms, total=4.59s, count=11, min=223.4ms, max=864.3ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4442.1ms, max=4442.1ms
+  task_sampling: mean=605.5ms, total=3.03s, count=5, min=498.3ms, max=866.5ms
+  task_sampling_failed: mean=266.8ms, total=1.60s, count=6, min=226.7ms, max=418.8ms
+  scene_randomize: mean=1.5ms, total=16.8ms, count=11, min=0.9ms, max=3.3ms
+  mj_forward_sync: mean=536.7us, total=5.9ms, count=11, min=0.4ms, max=0.7ms
+  policy_setup: mean=15.7us, total=0.1ms, count=5, 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]
+05/11 21:20:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:20:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:20:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:20:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:20:51 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]
+05/11 21:20:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:20:51 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]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155559m	[env.py: 870]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:20:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47876279 -0.8189799  -0.15555881] yaw=-67.8deg	[env.py: 1019]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:20:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=346.2ms, total=346.3ms	[env.py: 1075]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -0.819, -0.156)	[env.py: 1079]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.8 deg	[env.py: 1082]
+05/11 21:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/11 21:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:20:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:20:52 INFO: [Worker 0] Worker 0 house 1 episode 190/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:20:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:20:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:20:52 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:20:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:21:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:21:02 INFO: [Worker 0] Feasible grasp found 596 (originally 596): w/ 0.785[m] 92.986[deg]	[grasp_sample.py: 539]
+05/11 21:21:04 ERROR: [Worker 0] Worker 0 house 1 episode 175 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:21:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:21:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:21:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:21:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:21:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:21:05 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]
+05/11 21:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101531m	[env.py: 870]
+05/11 21:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:21:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=262.4ms, total=262.5ms	[env.py: 1105]
+05/11 21:21:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:21:06 ERROR: [Worker 0] Worker 0 house 1 episode 176 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:21:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:21:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:21:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:21:07 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]
+05/11 21:21:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:21:07 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]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130049m	[env.py: 870]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:21:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13118648 -1.08959412 -0.13004939] yaw=-42.9deg	[env.py: 1019]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:21:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=214.6ms, total=214.7ms	[env.py: 1075]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.131, -1.090, -0.130)	[env.py: 1079]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg	[env.py: 1082]
+05/11 21:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/11 21:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:21:07 INFO: [Worker 0] Worker 0 house 1 episode 177/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:21:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:21:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:21:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:21:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:21:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.422s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:21:09 ERROR: [Worker 0] Worker 0 house 1 episode 177 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:21:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:21:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:21:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:21:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:21:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:21:11 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]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124319m	[env.py: 870]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:21:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20140982 -0.95220873 -0.12431882] yaw=-37.9deg	[env.py: 1019]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:21:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=348.8ms, total=348.8ms	[env.py: 1075]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.201, -0.952, -0.124)	[env.py: 1079]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg	[env.py: 1082]
+05/11 21:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/11 21:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:21:11 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:21:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:21:11 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]
+05/11 21:21:11 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:21:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:21:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:21:11 ERROR: [Worker 0] Worker 0 house 1 episode 190 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 21:21:12 INFO: [Worker 0] Worker 0 house 1 episode 137 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:21:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.378s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:21:13 ERROR: [Worker 0] Worker 0 house 1 episode 178 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:21:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:21:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:21:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:21:13 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]
+05/11 21:21:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:21:13 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]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161611m	[env.py: 870]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:21:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19870668 -1.05181781 -0.16161103] yaw=-49.2deg	[env.py: 1019]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:21:13 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]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.199, -1.052, -0.162)	[env.py: 1079]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg	[env.py: 1082]
+05/11 21:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/11 21:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:21:14 INFO: [Worker 0] Worker 0 house 1 episode 191/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:21:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:21:14 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]
+05/11 21:21:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:21:14 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:21:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:21:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 21:21:14 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/11 21:21:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:21:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:21:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:21:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:21:14 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]
+05/11 21:21:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:21:14 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]
+05/11 21:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163197m	[env.py: 870]
+05/11 21:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:21:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57207267 -0.85246303 -0.16319694] yaw=-64.1deg	[env.py: 1019]
+05/11 21:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.61815932 -0.8672491  -0.16319694] yaw=-67.1deg	[env.py: 1019]
+05/11 21:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:21:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=615.7ms, total=615.7ms	[env.py: 1075]
+05/11 21:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.852, -0.163)	[env.py: 1079]
+05/11 21:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.1 deg	[env.py: 1082]
+05/11 21:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/11 21:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:21:16 INFO: [Worker 0] Worker 0 house 1 episode 179/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:21:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:21:16 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]
+05/11 21:21:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:21:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.171s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:21:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.577s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:21:24 INFO: [Worker 0] Feasible grasp found 525 (originally 525): w/ 0.742[m] 79.500[deg]	[grasp_sample.py: 539]
+05/11 21:21:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:21:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:21:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:21:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:21:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.335s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:21:39 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.747[m] 93.909[deg]	[grasp_sample.py: 539]
+05/11 21:21:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:21:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:21:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:21:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 25.80s (batch: 14.65s, save: 11.15s)	[pipeline.py: 300]
+05/11 21:21:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:21:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:21:40 INFO: [Worker 0] [PROFILE] Episode 178 house 1 success=True episode_total=3.14s:
+  episode_total: mean=29.27s, total=292.73s, count=10, min=243.9ms, max=196166.9ms
+  sensor_polling: mean=450.8ms, total=192.06s, count=426, min=275.1ms, max=890.6ms
+  save_batch_prep: mean=14.65s, total=14.65s, count=1, min=14647.9ms, max=14647.9ms
+  physics_step: mean=27.9ms, total=11.89s, count=426, min=15.5ms, max=110.5ms
+  save_trajectories: mean=11.15s, total=11.15s, count=1, min=11148.1ms, max=11148.1ms
+  task_specific_sample: mean=478.9ms, total=4.79s, count=10, min=239.2ms, max=746.6ms
+  task_sampling: mean=524.1ms, total=3.14s, count=6, min=359.9ms, max=634.3ms
+  task_sampling_failed: mean=419.0ms, total=1.68s, count=4, min=243.9ms, max=749.3ms
+  scene_randomize: mean=1.2ms, total=11.7ms, count=10, min=0.9ms, max=1.8ms
+  mj_forward_sync: mean=517.0us, total=5.2ms, count=10, min=0.4ms, max=0.7ms
+  policy_setup: mean=16.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:21:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:21:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:21:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:21:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:21:42 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]
+05/11 21:21:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:21:42 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]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175828m	[env.py: 870]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:21:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4050298  -0.97301833 -0.17582759] yaw=-61.3deg	[env.py: 1019]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.37270276 -1.06927884 -0.17582759] yaw=-50.0deg	[env.py: 1019]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:21:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=229.2ms, total=229.3ms	[env.py: 1075]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.405, -0.973, -0.176)	[env.py: 1079]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg	[env.py: 1082]
+05/11 21:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/11 21:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:21:42 INFO: [Worker 0] Worker 0 house 1 episode 179/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:21:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:21:42 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]
+05/11 21:21:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:21:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:21:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:21:44 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.724[m] 90.312[deg]	[grasp_sample.py: 539]
+05/11 21:21:46 ERROR: [Worker 0] Worker 0 house 1 episode 179 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:21:47 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:21:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 21:21:47 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/11 21:21:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:21:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:21:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:21:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:21:47 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]
+05/11 21:21:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:21:47 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]
+05/11 21:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139659m	[env.py: 870]
+05/11 21:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:21:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=196.6ms, total=196.7ms	[env.py: 1105]
+05/11 21:21:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:21:48 ERROR: [Worker 0] Worker 0 house 1 episode 180 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:21:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:21:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:21:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:21:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:21:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:21:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153958m	[env.py: 870]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:21:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50683549 -0.94619594 -0.1539579 ] yaw=-61.8deg	[env.py: 1019]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:21:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=248.5ms, total=248.6ms	[env.py: 1075]
+05/11 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -0.946, -0.154)	[env.py: 1079]
+05/11 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg	[env.py: 1082]
+05/11 21:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/11 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:21:50 INFO: [Worker 0] Worker 0 house 1 episode 181/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:21:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:21:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:21:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:21:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:21:52 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.699[m] 95.491[deg]	[grasp_sample.py: 539]
+05/11 21:21:53 ERROR: [Worker 0] Worker 0 house 1 episode 181 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:21:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:21:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:21:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:21:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:21:54 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]
+05/11 21:21:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:21:54 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]
+05/11 21:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182999m	[env.py: 870]
+05/11 21:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:21:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=640.4ms, total=640.4ms	[env.py: 1105]
+05/11 21:21:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:21:55 ERROR: [Worker 0] Worker 0 house 1 episode 182 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:21:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:21:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:21:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:21:56 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]
+05/11 21:21:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:21:56 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]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142369m	[env.py: 870]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:21:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53643988 -0.94761614 -0.14236893] yaw=-60.0deg	[env.py: 1019]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31151128 -1.19225953 -0.14236893] yaw=-50.9deg	[env.py: 1019]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.08450781 -1.079823   -0.14236893] yaw=-25.8deg	[env.py: 1019]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:21:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=216.4ms, total=216.4ms	[env.py: 1075]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -0.948, -0.142)	[env.py: 1079]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg	[env.py: 1082]
+05/11 21:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/11 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:21:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:21:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:21:57 INFO: [Worker 0] Worker 0 house 1 episode 183/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:21:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:21:57 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]
+05/11 21:21:57 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:21:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:22:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.340s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:22:02 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.733[m] 77.314[deg]	[grasp_sample.py: 539]
+05/11 21:22:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:22:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:22:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:22:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:22:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:22:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 17.36s (batch: 4.48s, save: 12.88s)	[pipeline.py: 300]
+05/11 21:22:05 INFO: [Worker 0] [PROFILE] Episode 137 house 1 success=True episode_total=1.25s:
+  episode_total: mean=106.92s, total=213.85s, count=2, min=2688.9ms, max=211160.3ms
+  sensor_polling: mean=452.7ms, total=130.83s, count=289, min=327.0ms, max=753.1ms
+  save_trajectories: mean=12.88s, total=12.88s, count=1, min=12881.5ms, max=12881.5ms
+  physics_step: mean=28.4ms, total=8.19s, count=289, min=19.8ms, max=102.3ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4480.5ms, max=4480.5ms
+  task_sampling: mean=622.8ms, total=1.25s, count=2, min=483.9ms, max=761.7ms
+  task_specific_sample: mean=619.0ms, total=1.24s, count=2, min=480.7ms, max=757.2ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
+  mj_forward_sync: mean=593.1us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.3us, 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]
+05/11 21:22:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:22:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:22:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:22:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:22:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:22:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:22:07 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]
+05/11 21:22:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:22:07 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]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155076m	[env.py: 870]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:22:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23739303 -1.00038365 -0.15507603] yaw=-38.7deg	[env.py: 1019]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:22:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=524.5ms, total=524.6ms	[env.py: 1075]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.000, -0.155)	[env.py: 1079]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.7 deg	[env.py: 1082]
+05/11 21:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/11 21:22:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:22:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:22:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:22:08 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:22:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:22:08 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]
+05/11 21:22:08 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:22:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:22:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.967s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:22:15 ERROR: [Worker 0] Worker 0 house 1 episode 138 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 21:22:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:22:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:22:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:22:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:22:16 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]
+05/11 21:22:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:22:16 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]
+05/11 21:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165479m	[env.py: 870]
+05/11 21:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:22:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=370.9ms, total=370.9ms	[env.py: 1105]
+05/11 21:22:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:22:17 ERROR: [Worker 0] Worker 0 house 1 episode 139 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:22:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:22:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:22:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:22:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:22:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:22:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:22:18 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]
+05/11 21:22:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:22:18 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]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136926m	[env.py: 870]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:22:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37816607 -0.98509296 -0.13692621] yaw=-55.1deg	[env.py: 1019]
+05/11 21:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36978413 -1.03932793 -0.13692621] yaw=-39.7deg	[env.py: 1019]
+05/11 21:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:22:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=244.1ms, total=244.2ms	[env.py: 1075]
+05/11 21:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.378, -0.985, -0.137)	[env.py: 1079]
+05/11 21:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg	[env.py: 1082]
+05/11 21:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/11 21:22:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:22:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:22:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:22:19 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:22:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:22:19 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]
+05/11 21:22:19 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:22:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:22:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.910s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:22:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.764[m] 89.302[deg]	[grasp_sample.py: 539]
+05/11 21:22:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:22:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:22:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:22:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:22:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:22:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:22:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:22:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:22:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:22:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:23:00 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]
+05/11 21:23:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:23:08 INFO: [Worker 0] Feasible grasp found 93 (originally 93): w/ 0.111[m] 3.979[deg]	[grasp_sample.py: 539]
+05/11 21:23:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:23:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:23:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:23:18 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]
+05/11 21:23:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:23:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:23:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.508s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:23:20 INFO: [Worker 0] Feasible grasp found 128 (originally 128): w/ 0.157[m] 12.183[deg]	[grasp_sample.py: 539]
+05/11 21:23:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:23:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:23:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:23:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:23:21 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]
+05/11 21:23:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:23:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:23:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.749s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:23:22 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.197[m] 11.866[deg]	[grasp_sample.py: 539]
+05/11 21:23:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:23:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:23:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:23:33 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]
+05/11 21:23:33 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:23:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.297s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:23:36 INFO: [Worker 0] Feasible grasp found 336 (originally 336): w/ 0.176[m] 5.815[deg]	[grasp_sample.py: 539]
+05/11 21:23:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:23:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:23:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:23:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:23:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:23:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:23:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:23:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:23:40 INFO: [Worker 0] Feasible grasp found 334 (originally 334): w/ 0.246[m] 8.083[deg]	[grasp_sample.py: 539]
+05/11 21:23:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:23:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:23:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:23:48 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 21:23:48 INFO: [Worker 0] Worker 0 house 1 episode 179 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 21:23:48 INFO: [Worker 0] [PROFILE] Episode 179 house 1 success=False episode_total=6.02s:
+  episode_total: mean=17.87s, total=196.59s, count=11, min=241.9ms, max=153812.0ms
+  sensor_polling: mean=459.8ms, total=90.59s, count=197, min=338.3ms, max=801.3ms
+  task_specific_sample: mean=590.4ms, total=6.49s, count=11, min=238.8ms, max=1249.6ms
+  task_sampling: mean=668.4ms, total=6.02s, count=9, min=426.2ms, max=1252.7ms
+  physics_step: mean=27.4ms, total=5.40s, count=197, min=20.0ms, max=50.5ms
+  task_sampling_failed: mean=259.1ms, total=518.2ms, count=2, min=241.9ms, max=276.3ms
+  scene_randomize: mean=1.7ms, total=19.0ms, count=11, min=0.9ms, max=6.4ms
+  mj_forward_sync: mean=550.7us, total=6.1ms, count=11, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.3us, total=0.1ms, count=9, 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]
+05/11 21:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:23:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:23:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:23:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:23:50 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]
+05/11 21:23:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:23:50 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]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188193m	[env.py: 870]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:23:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33964139 -1.20932071 -0.18819285] yaw=-43.0deg	[env.py: 1019]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43013766 -1.05446153 -0.18819285] yaw=-48.4deg	[env.py: 1019]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:23:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=281.2ms, total=281.2ms	[env.py: 1075]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.340, -1.209, -0.188)	[env.py: 1079]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.0 deg	[env.py: 1082]
+05/11 21:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/11 21:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:23:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:23:50 INFO: [Worker 0] Worker 0 house 1 episode 180/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:23:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:23:50 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]
+05/11 21:23:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:23:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:51 INFO: [Worker 0] Worker 0 house 1 episode 191 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:23:52 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.549[m] 84.161[deg]	[grasp_sample.py: 539]
+05/11 21:23:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:23:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:23:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:23:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:23:56 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]
+05/11 21:23:56 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:23:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:24:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.740s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:24:07 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.129[m] 19.809[deg]	[grasp_sample.py: 539]
+05/11 21:24:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:24:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:24:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:24:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:24:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:24:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:24:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:24:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:24:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:24:19 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:24:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 21:24:19 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/11 21:24:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:24:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.129s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:24:21 INFO: [Worker 0] Feasible grasp found 194 (originally 194): w/ 0.222[m] 28.875[deg]	[grasp_sample.py: 539]
+05/11 21:24:23 ERROR: [Worker 0] Worker 0 house 1 episode 140 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:24:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:24:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:24:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:24:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:24:25 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]
+05/11 21:24:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:24:25 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]
+05/11 21:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137564m	[env.py: 870]
+05/11 21:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:24:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=252.0ms, total=252.1ms	[env.py: 1105]
+05/11 21:24:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:24:25 ERROR: [Worker 0] Worker 0 house 1 episode 141 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:24:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:24:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:24:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:24:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:24:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:24:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:24:26 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]
+05/11 21:24:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:24:26 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]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111398m	[env.py: 870]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:24:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27933899 -1.06269792 -0.11139825] yaw=-39.1deg	[env.py: 1019]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.64140329 -0.94714242 -0.11139825] yaw=-67.0deg	[env.py: 1019]
+05/11 21:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:24:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=228.6ms, total=228.6ms	[env.py: 1075]
+05/11 21:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.063, -0.111)	[env.py: 1079]
+05/11 21:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.1 deg	[env.py: 1082]
+05/11 21:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/11 21:24:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:24:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:24:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:24:27 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:24:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:24:27 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]
+05/11 21:24:27 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:24:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:24:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:24:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.582s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:24:32 INFO: [Worker 0] Feasible grasp found 381 (originally 381): w/ 0.748[m] 94.554[deg]	[grasp_sample.py: 539]
+05/11 21:24:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:24:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:24:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:24:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:24:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:24:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:24:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:24:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.35s (batch: 4.01s, save: 11.35s)	[pipeline.py: 300]
+05/11 21:24:35 INFO: [Worker 0] [PROFILE] Episode 191 house 1 success=True episode_total=1.26s:
+  episode_total: mean=111.36s, total=222.72s, count=2, min=20408.9ms, max=202314.1ms
+  sensor_polling: mean=473.8ms, total=132.67s, count=280, min=337.4ms, max=906.3ms
+  save_trajectories: mean=11.35s, total=11.35s, count=1, min=11345.3ms, max=11345.3ms
+  physics_step: mean=28.6ms, total=8.02s, count=280, min=19.6ms, max=63.9ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4007.2ms, max=4007.2ms
+  task_sampling: mean=631.0ms, total=1.26s, count=2, min=564.1ms, max=697.9ms
+  task_specific_sample: mean=627.1ms, total=1.25s, count=2, min=560.5ms, max=693.8ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.5ms, max=2.5ms
+  mj_forward_sync: mean=524.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:24:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:24:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:24:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:24:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:24:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:24:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:24:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:24:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:24:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:24:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:24:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145759m	[env.py: 870]
+05/11 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:24:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=284.9ms, total=285.0ms	[env.py: 1105]
+05/11 21:24:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:24:37 ERROR: [Worker 0] Worker 0 house 1 episode 192 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:24:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:24:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:24:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:24:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:24:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:24:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:24:39 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]
+05/11 21:24:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:24:39 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]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177401m	[env.py: 870]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:24:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.67330837 -0.94845802 -0.17740139] yaw=-72.8deg	[env.py: 1019]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:24:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=361.0ms, total=361.0ms	[env.py: 1075]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.673, -0.948, -0.177)	[env.py: 1079]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg	[env.py: 1082]
+05/11 21:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/11 21:24:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:24:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:24:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:24:39 INFO: [Worker 0] Worker 0 house 1 episode 193/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:24:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:24:39 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]
+05/11 21:24:39 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:24:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:24:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.989s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:24:41 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.626[m] 92.094[deg]	[grasp_sample.py: 539]
+05/11 21:24:42 ERROR: [Worker 0] Worker 0 house 1 episode 193 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:24:43 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 21:24:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:24:43 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]
+05/11 21:24:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:24:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 386 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:24:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:24:43 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.126[m] 4.766[deg]	[grasp_sample.py: 539]
+05/11 21:24:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:24:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:24:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:24:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:24:43 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]
+05/11 21:24:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:24:43 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]
+05/11 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130333m	[env.py: 870]
+05/11 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:24:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:24:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=287.4ms, total=287.5ms	[env.py: 1105]
+05/11 21:24:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:24:44 ERROR: [Worker 0] Worker 0 house 1 episode 194 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:24:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:24:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:24:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:24:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:24:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:24:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:24:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:24:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:24:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:24:45 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]
+05/11 21:24:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:24:45 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]
+05/11 21:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157132m	[env.py: 870]
+05/11 21:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:24:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 50.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57706753 -0.86400989 -0.15713192] yaw=-67.1deg	[env.py: 1019]
+05/11 21:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:24:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=670.6ms, total=670.6ms	[env.py: 1075]
+05/11 21:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.864, -0.157)	[env.py: 1079]
+05/11 21:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg	[env.py: 1082]
+05/11 21:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/11 21:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:24:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:24:46 INFO: [Worker 0] Worker 0 house 1 episode 195/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:24:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:24:46 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]
+05/11 21:24:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:24:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:24:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.987s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:24:50 INFO: [Worker 0] Feasible grasp found 376 (originally 376): w/ 0.745[m] 93.501[deg]	[grasp_sample.py: 539]
+05/11 21:24:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:24:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:24:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:24:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:24:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:24:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:25:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:25:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:25:18 INFO: [Worker 0] Worker 0 house 1 episode 183 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 21:25:18 INFO: [Worker 0] [PROFILE] Episode 183 house 1 success=False episode_total=1.55s:
+  episode_total: mean=42.10s, total=210.49s, count=5, min=209.2ms, max=202250.2ms
+  sensor_polling: mean=463.1ms, total=138.93s, count=300, min=321.4ms, max=907.7ms
+  physics_step: mean=28.2ms, total=8.46s, count=300, min=20.3ms, max=62.9ms
+  task_specific_sample: mean=478.4ms, total=2.39s, count=5, min=204.6ms, max=646.7ms
+  task_sampling: mean=517.3ms, total=1.55s, count=3, min=465.9ms, max=571.4ms
+  task_sampling_failed: mean=429.6ms, total=859.2ms, count=2, min=209.2ms, max=650.0ms
+  scene_randomize: mean=1.8ms, total=9.2ms, count=5, min=1.2ms, max=3.4ms
+  mj_forward_sync: mean=610.6us, total=3.1ms, count=5, min=0.6ms, max=0.7ms
+  policy_setup: mean=16.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:25:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:25:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:25:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:25:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:25:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:25:20 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]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124404m	[env.py: 870]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:25:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.20958013 -0.96792729 -0.12440416] yaw=-41.5deg	[env.py: 1019]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3056753  -1.22106955 -0.12440416] yaw=-45.8deg	[env.py: 1019]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:25:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.6ms, total=365.7ms	[env.py: 1075]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.210, -0.968, -0.124)	[env.py: 1079]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg	[env.py: 1082]
+05/11 21:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/11 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:25:21 INFO: [Worker 0] Worker 0 house 1 episode 184/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:25:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:25:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:25:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:25:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:25:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.687s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:25:23 ERROR: [Worker 0] Worker 0 house 1 episode 184 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:25:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:25:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:25:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:25:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:25:24 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]
+05/11 21:25:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:25:24 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]
+05/11 21:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132731m	[env.py: 870]
+05/11 21:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:25:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=331.1ms, total=331.2ms	[env.py: 1105]
+05/11 21:25:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:25:24 ERROR: [Worker 0] Worker 0 house 1 episode 185 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:25:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:25:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:25:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:25:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:25:26 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]
+05/11 21:25:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:25:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128817m	[env.py: 870]
+05/11 21:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:25:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=276.4ms, total=276.5ms	[env.py: 1105]
+05/11 21:25:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:25:26 ERROR: [Worker 0] Worker 0 house 1 episode 186 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:25:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:25:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:25:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:25:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:25:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:25:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120488m	[env.py: 870]
+05/11 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:25:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.60466997 -0.80770387 -0.12048807] yaw=-76.4deg	[env.py: 1019]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:25:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=457.9ms, total=458.0ms	[env.py: 1075]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.808, -0.120)	[env.py: 1079]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.4 deg	[env.py: 1082]
+05/11 21:25:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/11 21:25:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:25:28 INFO: [Worker 0] Worker 0 house 1 episode 187/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:25:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:25:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:25:28 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:25:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:25:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.878s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:25:45 INFO: [Worker 0] Feasible grasp found 1171 (originally 507): w/ 0.718[m] 92.794[deg]	[grasp_sample.py: 539]
+05/11 21:25:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:25:46 ERROR: [Worker 0] Worker 0 house 1 episode 187 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:25:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:25:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:25:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:25:48 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]
+05/11 21:25:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:25:48 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]
+05/11 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142162m	[env.py: 870]
+05/11 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:25:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=327.8ms, total=327.8ms	[env.py: 1105]
+05/11 21:25:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:25:48 ERROR: [Worker 0] Worker 0 house 1 episode 188 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:25:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:25:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:25:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:25:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:25:50 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]
+05/11 21:25:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:25:50 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]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100422m	[env.py: 870]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:25:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26006898 -0.95695861 -0.10042185] yaw=-49.3deg	[env.py: 1019]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35665128 -0.98323735 -0.10042185] yaw=-50.2deg	[env.py: 1019]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24462013 -1.08922015 -0.10042185] yaw=-49.5deg	[env.py: 1019]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:25:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=232.6ms, total=232.7ms	[env.py: 1075]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -0.957, -0.100)	[env.py: 1079]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg	[env.py: 1082]
+05/11 21:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/11 21:25:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:25:50 INFO: [Worker 0] Worker 0 house 1 episode 189/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:25:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:25:50 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]
+05/11 21:25:50 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:25:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:25:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.640s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:25:52 ERROR: [Worker 0] Worker 0 house 1 episode 189 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:25:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:25:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:25:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:25:53 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]
+05/11 21:25:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:25:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127220m	[env.py: 870]
+05/11 21:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:25:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53876108 -0.81515608 -0.12722005] yaw=-77.2deg	[env.py: 1019]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.26172193 -1.1796669  -0.12722005] yaw=-49.5deg	[env.py: 1019]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:25:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=437.6ms, total=437.6ms	[env.py: 1075]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.539, -0.815, -0.127)	[env.py: 1079]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.2 deg	[env.py: 1082]
+05/11 21:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/11 21:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:25:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:25:54 INFO: [Worker 0] Worker 0 house 1 episode 190/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:25:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:25:54 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]
+05/11 21:25:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:25:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.157s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:25:55 INFO: [Worker 0] Worker 0 house 1 episode 180 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:25:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:26:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:26:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.164s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:26:04 INFO: [Worker 0] Feasible grasp found 215 (originally 215): w/ 0.769[m] 89.031[deg]	[grasp_sample.py: 539]
+05/11 21:26:05 ERROR: [Worker 0] Worker 0 house 1 episode 190 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:26:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:26:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:26:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:26:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:26:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:26:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:26:06 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]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146956m	[env.py: 870]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:26:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24308049 -1.15679598 -0.1469564 ] yaw=-27.7deg	[env.py: 1019]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.63285029 -0.96523984 -0.1469564 ] yaw=-77.9deg	[env.py: 1019]
+05/11 21:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:26:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.1ms, total=265.1ms	[env.py: 1075]
+05/11 21:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.243, -1.157, -0.147)	[env.py: 1079]
+05/11 21:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.7 deg	[env.py: 1082]
+05/11 21:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/11 21:26:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:26:07 INFO: [Worker 0] Worker 0 house 1 episode 191/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:26:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:26:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:26:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:26:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:26:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:26:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:26:10 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]
+05/11 21:26:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:26:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:26:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.332s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:26:10 INFO: [Worker 0] Feasible grasp found 660 (originally 660): w/ 0.707[m] 87.255[deg]	[grasp_sample.py: 539]
+05/11 21:26:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.841s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:26:12 INFO: [Worker 0] Feasible grasp found 638 (originally 638): w/ 0.206[m] 15.795[deg]	[grasp_sample.py: 539]
+05/11 21:26:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:26:12 ERROR: [Worker 0] Worker 0 house 1 episode 191 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:26:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:26:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:26:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:26:13 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]
+05/11 21:26:13 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:26:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:26:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:26:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:26:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:26:13 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]
+05/11 21:26:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:26:13 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]
+05/11 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162641m	[env.py: 870]
+05/11 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:26:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:26:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.600s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:26:14 INFO: [Worker 0] Feasible grasp found 128 (originally 128): w/ 0.506[m] 28.308[deg]	[grasp_sample.py: 539]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35901827 -1.13203891 -0.16264109] yaw=-54.9deg	[env.py: 1019]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35878657 -1.04909645 -0.16264109] yaw=-57.8deg	[env.py: 1019]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:26:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=249.5ms, total=249.6ms	[env.py: 1075]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.132, -0.163)	[env.py: 1079]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg	[env.py: 1082]
+05/11 21:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/11 21:26:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:26:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:26:14 INFO: [Worker 0] Worker 0 house 1 episode 192/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:26:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:26:14 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]
+05/11 21:26:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:26:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:26:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:26:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:26:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.368s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:26:18 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.654[m] 88.300[deg]	[grasp_sample.py: 539]
+05/11 21:26:19 ERROR: [Worker 0] Worker 0 house 1 episode 192 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:26:20 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:26:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 21:26:20 INFO: [Worker 0] Preparing episode data: 246 timesteps	[save_utils.py: 278]
+05/11 21:26:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:26:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:26:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:26:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:26:20 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]
+05/11 21:26:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:26:20 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]
+05/11 21:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122443m	[env.py: 870]
+05/11 21:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:26:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.4ms, total=222.4ms	[env.py: 1105]
+05/11 21:26:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:26:21 ERROR: [Worker 0] Worker 0 house 1 episode 193 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:26:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:26:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:26:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:26:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:26:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:26:22 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]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153948m	[env.py: 870]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:26:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48735673 -0.92110755 -0.15394758] yaw=-69.3deg	[env.py: 1019]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:26:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=227.5ms, total=227.5ms	[env.py: 1075]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.487, -0.921, -0.154)	[env.py: 1079]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.3 deg	[env.py: 1082]
+05/11 21:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/11 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:26:23 INFO: [Worker 0] Worker 0 house 1 episode 194/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:26:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:26:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:26:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:26:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:26:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.682s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:26:24 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.686[m] 88.427[deg]	[grasp_sample.py: 539]
+05/11 21:26:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:26:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:26:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:26:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:26:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:26:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.64s (batch: 4.45s, save: 9.19s)	[pipeline.py: 300]
+05/11 21:26:35 INFO: [Worker 0] [PROFILE] Episode 180 house 1 success=True episode_total=0.56s:
+  episode_total: mean=164.90s, total=164.90s, count=1, min=164896.1ms, max=164896.1ms
+  sensor_polling: mean=458.5ms, total=112.33s, count=245, min=312.7ms, max=824.8ms
+  save_trajectories: mean=9.19s, total=9.19s, count=1, min=9188.8ms, max=9188.8ms
+  physics_step: mean=29.3ms, total=7.18s, count=245, min=19.7ms, max=94.2ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4451.7ms, max=4451.7ms
+  task_sampling: mean=562.5ms, total=562.5ms, count=1, min=562.5ms, max=562.5ms
+  task_specific_sample: mean=558.5ms, total=558.5ms, count=1, min=558.5ms, max=558.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=571.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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]
+05/11 21:26:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:26:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:26:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:26:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:26:36 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]
+05/11 21:26:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:26:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174267m	[env.py: 870]
+05/11 21:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:26:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=251.7ms, total=251.8ms	[env.py: 1105]
+05/11 21:26:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:26:36 ERROR: [Worker 0] Worker 0 house 1 episode 181 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:26:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:26:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:26:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:26:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:26:38 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]
+05/11 21:26:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:26:38 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]
+05/11 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194269m	[env.py: 870]
+05/11 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:26:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.8ms, total=204.9ms	[env.py: 1105]
+05/11 21:26:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:26:38 ERROR: [Worker 0] Worker 0 house 1 episode 182 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:26:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:26:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:26:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:26:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:26:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:26:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:26:40 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]
+05/11 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164224m	[env.py: 870]
+05/11 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:26:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=184.0ms, total=184.0ms	[env.py: 1105]
+05/11 21:26:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:26:40 ERROR: [Worker 0] Worker 0 house 1 episode 183 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:26:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:26:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:26:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:26:42 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]
+05/11 21:26:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:26:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170129m	[env.py: 870]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:26:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45048448 -1.07095612 -0.1701294 ] yaw=-48.7deg	[env.py: 1019]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19715528 -1.15196497 -0.1701294 ] yaw=-44.7deg	[env.py: 1019]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:26:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=219.0ms, total=219.1ms	[env.py: 1075]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -1.071, -0.170)	[env.py: 1079]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg	[env.py: 1082]
+05/11 21:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/11 21:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:26:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:26:42 INFO: [Worker 0] Worker 0 house 1 episode 184/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:26:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:26:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:26:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:26:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:26:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:26:43 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]
+05/11 21:26:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:26:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:26:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.075s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:26:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.606[m] 83.401[deg]	[grasp_sample.py: 539]
+05/11 21:26:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:26:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:26:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:26:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.791s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:26:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.366[m] 13.756[deg]	[grasp_sample.py: 539]
+05/11 21:26:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:26:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:26:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:26:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:26:57 INFO: [Worker 0] Worker 0 house 1 episode 142 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:27:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:27:09 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 21:27:09 INFO: [Worker 0] Worker 0 house 1 episode 195 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 21:27:09 INFO: [Worker 0] [PROFILE] Episode 195 house 1 success=False episode_total=1.65s:
+  episode_total: mean=36.99s, total=147.95s, count=4, min=296.3ms, max=143934.7ms
+  sensor_polling: mean=464.8ms, total=109.68s, count=236, min=324.7ms, max=800.6ms
+  physics_step: mean=27.2ms, total=6.41s, count=236, min=19.7ms, max=75.8ms
+  task_specific_sample: mean=557.9ms, total=2.23s, count=4, min=292.6ms, max=958.1ms
+  task_sampling: mean=826.0ms, total=1.65s, count=2, min=691.0ms, max=961.1ms
+  task_sampling_failed: mean=306.4ms, total=612.7ms, count=2, min=296.3ms, max=316.5ms
+  scene_randomize: mean=1.9ms, total=7.6ms, count=4, min=1.3ms, max=3.3ms
+  mj_forward_sync: mean=574.8us, total=2.3ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:27:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:27:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:27:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:27:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:27:11 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]
+05/11 21:27:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:27:11 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]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148057m	[env.py: 870]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:27:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57527384 -0.92441339 -0.14805747] yaw=-58.6deg	[env.py: 1019]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:27:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=400.6ms, total=400.7ms	[env.py: 1075]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.924, -0.148)	[env.py: 1079]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.6 deg	[env.py: 1082]
+05/11 21:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
+05/11 21:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:27:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:27:12 INFO: [Worker 0] Worker 0 house 1 episode 196/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:27:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:27:12 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]
+05/11 21:27:12 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:27:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:27:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.278s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:27:14 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.693[m] 85.314[deg]	[grasp_sample.py: 539]
+05/11 21:27:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:27:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:27:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:27:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:27:28 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:27:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 21:27:28 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/11 21:27:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:27:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:27:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:27:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:27:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:27:43 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]
+05/11 21:27:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:27:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 330 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:27:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:27:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:27:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.37s (batch: 4.44s, save: 10.93s)	[pipeline.py: 300]
+05/11 21:27:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:27:43 INFO: [Worker 0] Feasible grasp found 112 (originally 112): w/ 0.043[m] 32.325[deg]	[grasp_sample.py: 539]
+05/11 21:27:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:27:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:27:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:27:44 INFO: [Worker 0] [PROFILE] Episode 142 house 1 success=True episode_total=1.91s:
+  episode_total: mean=66.21s, total=331.06s, count=5, min=260.8ms, max=197771.0ms
+  sensor_polling: mean=460.7ms, total=205.49s, count=446, min=318.4ms, max=906.6ms
+  physics_step: mean=28.7ms, total=12.79s, count=446, min=14.9ms, max=136.8ms
+  save_trajectories: mean=10.93s, total=10.93s, count=1, min=10932.9ms, max=10932.9ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4440.9ms, max=4440.9ms
+  task_specific_sample: mean=507.1ms, total=2.54s, count=5, min=257.2ms, max=880.2ms
+  task_sampling: mean=637.5ms, total=1.91s, count=3, min=479.5ms, max=885.5ms
+  task_sampling_failed: mean=321.1ms, total=642.2ms, count=2, min=260.7ms, max=381.5ms
+  scene_randomize: mean=1.7ms, total=8.5ms, count=5, min=1.2ms, max=3.6ms
+  mj_forward_sync: mean=575.3us, total=2.9ms, count=5, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:27:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:27:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:27:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:27:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:27:46 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]
+05/11 21:27:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:27:46 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]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189808m	[env.py: 870]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:27:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46882414 -1.03362517 -0.18980809] yaw=-51.5deg	[env.py: 1019]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29076911 -1.01012167 -0.18980809] yaw=-47.4deg	[env.py: 1019]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52784495 -1.03962185 -0.18980809] yaw=-56.0deg	[env.py: 1019]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:27:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.4ms, total=165.4ms	[env.py: 1075]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -1.034, -0.190)	[env.py: 1079]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg	[env.py: 1082]
+05/11 21:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/11 21:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:27:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:27:46 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:27:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:27:46 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]
+05/11 21:27:46 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:27:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:27:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.826s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:27:47 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.639[m] 87.063[deg]	[grasp_sample.py: 539]
+05/11 21:27:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:27:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:27:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:27:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:27:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:27:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:28:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:28:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:28:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:28:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:28:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:28:23 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]
+05/11 21:28:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:28:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:28:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:28:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:28:28 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.486[m] 60.545[deg]	[grasp_sample.py: 539]
+05/11 21:28:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:28:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:28:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:28:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:28:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:28:45 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]
+05/11 21:28:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:28:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:28:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:28:45 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]
+05/11 21:28:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:28:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 360 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:28:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.284s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:28:49 INFO: [Worker 0] Feasible grasp found 289 (originally 289): w/ 0.055[m] 0.445[deg]	[grasp_sample.py: 539]
+05/11 21:28:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.742s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:28:50 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.486[m] 60.545[deg]	[grasp_sample.py: 539]
+05/11 21:28:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:28:50 ERROR: [Worker 0] Worker 0 house 1 episode 196 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:28:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:28:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:28:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:28:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:28:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:28:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:28:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:28:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:28:52 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]
+05/11 21:28:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:28:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101276m	[env.py: 870]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:28:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48958249 -0.9935233  -0.10127571] yaw=-68.9deg	[env.py: 1019]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:28:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.7ms, total=251.7ms	[env.py: 1075]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.490, -0.994, -0.101)	[env.py: 1079]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.9 deg	[env.py: 1082]
+05/11 21:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/11 21:28:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:28:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:28:52 INFO: [Worker 0] Worker 0 house 1 episode 197/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:28:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:28:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:28:53 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:28:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:28:56 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.708[m] 85.680[deg]	[grasp_sample.py: 539]
+05/11 21:28:57 INFO: [Worker 0] Worker 0 house 1 episode 194 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:28:58 ERROR: [Worker 0] Worker 0 house 1 episode 197 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:28:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:28:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:28:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:28:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:28:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:28:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:28:59 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]
+05/11 21:28:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:28:59 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]
+05/11 21:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105695m	[env.py: 870]
+05/11 21:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:28:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -131.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53991221 -0.908924   -0.10569484] yaw=-68.5deg	[env.py: 1019]
+05/11 21:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:00 INFO: [Worker 0] Worker 0 house 1 episode 184 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:29:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=594.3ms, total=594.4ms	[env.py: 1075]
+05/11 21:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -0.909, -0.106)	[env.py: 1079]
+05/11 21:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg	[env.py: 1082]
+05/11 21:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/11 21:29:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:29:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:29:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:29:00 INFO: [Worker 0] Worker 0 house 1 episode 198/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:29:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:29:00 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]
+05/11 21:29:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:29:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.968s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:29:02 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.722[m] 93.371[deg]	[grasp_sample.py: 539]
+05/11 21:29:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:29:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:29:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:29:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:29:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:29:06 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]
+05/11 21:29:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:29:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:29:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:29:11 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.486[m] 60.545[deg]	[grasp_sample.py: 539]
+05/11 21:29:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:29:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:29:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:29:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:23 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:29:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 21:29:23 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/11 21:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:25 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:29:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 21:29:25 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/11 21:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:29:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:29:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 21:29:27 INFO: [Worker 0] Worker 0 house 1 episode 143 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 21:29:27 INFO: [Worker 0] [PROFILE] Episode 143 house 1 success=False episode_total=0.49s:
+  episode_total: mean=101.66s, total=101.66s, count=1, min=101656.4ms, max=101656.4ms
+  sensor_polling: mean=453.8ms, total=34.95s, count=77, min=313.3ms, max=754.3ms
+  physics_step: mean=23.1ms, total=1.78s, count=77, min=13.3ms, max=30.8ms
+  task_sampling: mean=485.3ms, total=485.3ms, count=1, min=485.3ms, max=485.3ms
+  task_specific_sample: mean=481.1ms, total=481.1ms, count=1, min=481.1ms, max=481.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=464.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:29:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:29:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:29:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:29:29 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]
+05/11 21:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:29:29 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]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160667m	[env.py: 870]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47918776 -0.97091379 -0.16066692] yaw=-48.6deg	[env.py: 1019]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:29:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=239.2ms, total=239.2ms	[env.py: 1075]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -0.971, -0.161)	[env.py: 1079]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg	[env.py: 1082]
+05/11 21:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/11 21:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:29:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:29:29 INFO: [Worker 0] Worker 0 house 1 episode 144/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:29:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:29:29 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]
+05/11 21:29:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:29:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:29:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.120s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:29:32 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.696[m] 81.969[deg]	[grasp_sample.py: 539]
+05/11 21:29:33 ERROR: [Worker 0] Worker 0 house 1 episode 144 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:29:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:29:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:29:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:29:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:29:34 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]
+05/11 21:29:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:29:34 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]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167102m	[env.py: 870]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:29:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41688471 -1.00857637 -0.16710198] yaw=-63.8deg	[env.py: 1019]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43322081 -1.03925634 -0.16710198] yaw=-45.0deg	[env.py: 1019]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:29:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=398.5ms, total=398.6ms	[env.py: 1075]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -1.009, -0.167)	[env.py: 1079]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.8 deg	[env.py: 1082]
+05/11 21:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/11 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:29:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:29:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:29:35 INFO: [Worker 0] Worker 0 house 1 episode 145/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:29:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:29:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:29:35 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:29:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:29:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:29:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:29:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.09s (batch: 3.89s, save: 10.20s)	[pipeline.py: 300]
+05/11 21:29:38 INFO: [Worker 0] [PROFILE] Episode 194 house 1 success=True episode_total=4.09s:
+  episode_total: mean=22.11s, total=243.20s, count=11, min=232.9ms, max=195665.5ms
+  sensor_polling: mean=448.3ms, total=124.64s, count=278, min=297.0ms, max=685.0ms
+  save_trajectories: mean=10.20s, total=10.20s, count=1, min=10195.7ms, max=10195.7ms
+  physics_step: mean=28.5ms, total=7.92s, count=278, min=20.1ms, max=73.7ms
+  task_specific_sample: mean=477.5ms, total=5.25s, count=11, min=229.2ms, max=702.8ms
+  task_sampling: mean=584.1ms, total=4.09s, count=7, min=482.7ms, max=705.4ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3890.2ms, max=3890.2ms
+  task_sampling_failed: mean=299.6ms, total=1.20s, count=4, min=232.8ms, max=343.4ms
+  scene_randomize: mean=1.3ms, total=13.8ms, count=11, min=1.0ms, max=1.7ms
+  mj_forward_sync: mean=526.3us, total=5.8ms, count=11, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.7us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 21:29:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:29:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:29:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:29:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:29:39 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]
+05/11 21:29:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:29:39 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]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103042m	[env.py: 870]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:29:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:29:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:29:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.85s (batch: 3.85s, save: 10.00s)	[pipeline.py: 300]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48055947 -0.92309272 -0.10304152] yaw=-70.0deg	[env.py: 1019]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:29:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=194.6ms, total=194.6ms	[env.py: 1075]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.481, -0.923, -0.103)	[env.py: 1079]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.0 deg	[env.py: 1082]
+05/11 21:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/11 21:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:29:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:29:39 INFO: [Worker 0] Feasible grasp found 364 (originally 364): w/ 0.758[m] 96.423[deg]	[grasp_sample.py: 539]
+05/11 21:29:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:29:40 INFO: [Worker 0] Worker 0 house 1 episode 195/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:29:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:29:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:29:40 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:29:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:29:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:29:40 INFO: [Worker 0] [PROFILE] Episode 184 house 1 success=True episode_total=0.54s:
+  episode_total: mean=44.71s, total=178.83s, count=4, min=192.4ms, max=178156.3ms
+  sensor_polling: mean=456.8ms, total=117.40s, count=257, min=317.4ms, max=801.9ms
+  save_trajectories: mean=10.00s, total=10.00s, count=1, min=10001.3ms, max=10001.3ms
+  physics_step: mean=28.7ms, total=7.36s, count=257, min=20.1ms, max=111.9ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3852.1ms, max=3852.1ms
+  task_specific_sample: mean=299.0ms, total=1.20s, count=4, min=189.1ms, max=537.3ms
+  task_sampling_failed: mean=224.4ms, total=673.2ms, count=3, min=192.4ms, max=265.6ms
+  task_sampling: mean=539.9ms, total=539.9ms, count=1, min=539.9ms, max=539.9ms
+  scene_randomize: mean=1.5ms, total=5.8ms, count=4, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=522.4us, total=2.1ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, 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]
+05/11 21:29:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:29:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:29:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:29:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:29:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:29:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:29:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:29:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:29:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:29:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:29:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:29:41 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]
+05/11 21:29:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:29:41 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]
+05/11 21:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148853m	[env.py: 870]
+05/11 21:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:29:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28233647 -1.22796613 -0.14885327] yaw=-31.5deg	[env.py: 1019]
+05/11 21:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:29:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32594041 -0.90165139 -0.14885327] yaw=-57.8deg	[env.py: 1019]
+05/11 21:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:29:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.8ms, total=239.9ms	[env.py: 1075]
+05/11 21:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.228, -0.149)	[env.py: 1079]
+05/11 21:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.5 deg	[env.py: 1082]
+05/11 21:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
+05/11 21:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:29:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:29:42 INFO: [Worker 0] Worker 0 house 1 episode 185/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:29:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:29:42 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]
+05/11 21:29:42 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:29:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:29:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:29:44 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.684[m] 83.785[deg]	[grasp_sample.py: 539]
+05/11 21:29:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:29:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.753s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:29:44 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.753[m] 88.982[deg]	[grasp_sample.py: 539]
+05/11 21:29:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:29:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:29:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:29:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:29:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:29:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 21:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 21:30:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:30:29 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]
+05/11 21:30:29 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:30:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:30:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:30:34 INFO: [Worker 0] Feasible grasp found 548 (originally 548): w/ 0.095[m] 8.919[deg]	[grasp_sample.py: 539]
+05/11 21:30:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:30:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:30:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:30:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:30:43 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]
+05/11 21:30:43 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:30:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:30:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:30:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.300s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:30:47 INFO: [Worker 0] Feasible grasp found 172 (originally 172): w/ 0.156[m] 15.550[deg]	[grasp_sample.py: 539]
+05/11 21:30:48 ERROR: [Worker 0] Worker 0 house 1 episode 198 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:30:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:30:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:30:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:30:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:30:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:30:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:30:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:30:50 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]
+05/11 21:30:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:30:50 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]
+05/11 21:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164327m	[env.py: 870]
+05/11 21:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:30:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=380.5ms, total=380.6ms	[env.py: 1105]
+05/11 21:30:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:30:50 ERROR: [Worker 0] Worker 0 house 1 episode 199 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:30:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:30:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:30:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:30:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:30:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:30:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:30:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:30:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:30:52 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]
+05/11 21:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197259m	[env.py: 870]
+05/11 21:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:30:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=331.9ms, total=331.9ms	[env.py: 1105]
+05/11 21:30:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:30:52 ERROR: [Worker 0] Worker 0 house 1 episode 200 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:30:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:30:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:30:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:30:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:30:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:30:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:30:53 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]
+05/11 21:30:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:30:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176669m	[env.py: 870]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:30:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35727468 -1.11504026 -0.17666917] yaw=-41.2deg	[env.py: 1019]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54584317 -0.86234742 -0.17666917] yaw=-73.7deg	[env.py: 1019]
+05/11 21:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:30:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=232.5ms, total=232.5ms	[env.py: 1075]
+05/11 21:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -1.115, -0.177)	[env.py: 1079]
+05/11 21:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg	[env.py: 1082]
+05/11 21:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/11 21:30:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:30:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:30:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:30:54 INFO: [Worker 0] Worker 0 house 1 episode 201/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:30:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:30:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:30:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:30:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:30:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:30:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:31:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:31:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.469s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:31:02 INFO: [Worker 0] Feasible grasp found 44 (originally 44): w/ 0.642[m] 87.637[deg]	[grasp_sample.py: 539]
+05/11 21:31:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:31:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:31:04 ERROR: [Worker 0] Worker 0 house 1 episode 201 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:31:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:31:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:31:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:31:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:31:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:31:05 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]
+05/11 21:31:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:31:05 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]
+05/11 21:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123892m	[env.py: 870]
+05/11 21:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:31:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31270608 -0.98515215 -0.12389208] yaw=-49.3deg	[env.py: 1019]
+05/11 21:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:31:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms	[env.py: 1075]
+05/11 21:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -0.985, -0.124)	[env.py: 1079]
+05/11 21:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg	[env.py: 1082]
+05/11 21:31:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/11 21:31:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:31:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:31:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:31:06 INFO: [Worker 0] Worker 0 house 1 episode 202/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:31:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:31:06 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]
+05/11 21:31:06 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:31:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:31:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:31:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:31:09 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]
+05/11 21:31:09 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:31:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:31:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:31:14 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.094[m] 34.001[deg]	[grasp_sample.py: 539]
+05/11 21:31:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:31:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:31:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:31:16 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]
+05/11 21:31:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:31:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:31:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:31:17 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.734[m] 83.366[deg]	[grasp_sample.py: 539]
+05/11 21:31:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:31:18 INFO: [Worker 0] Feasible grasp found 186 (originally 186): w/ 0.176[m] 46.274[deg]	[grasp_sample.py: 539]
+05/11 21:31:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:31:18 ERROR: [Worker 0] Worker 0 house 1 episode 202 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:31:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:31:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:31:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:31:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:31:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:31:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:31:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:31:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:31:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:31:20 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]
+05/11 21:31:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:31:20 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]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136443m	[env.py: 870]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:31:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23100274 -1.17073299 -0.13644335] yaw=-47.7deg	[env.py: 1019]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21960782 -1.05204101 -0.13644335] yaw=-53.6deg	[env.py: 1019]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:31:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=542.2ms, total=542.3ms	[env.py: 1075]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -1.171, -0.136)	[env.py: 1079]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.7 deg	[env.py: 1082]
+05/11 21:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/11 21:31:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:31:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:31:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:31:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:31:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:31:20 INFO: [Worker 0] Worker 0 house 1 episode 203/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:31:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:31:21 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]
+05/11 21:31:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:31:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:31:21 INFO: [Worker 0] Object is not in grasp! 0.00090 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 21:31:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:31:21 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]
+05/11 21:31:21 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:31:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 412 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:31:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.574s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:31:22 INFO: [Worker 0] Feasible grasp found 213 (originally 213): w/ 0.145[m] 4.749[deg]	[grasp_sample.py: 539]
+05/11 21:31:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:31:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:31:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.346s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:31:23 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.698[m] 86.623[deg]	[grasp_sample.py: 539]
+05/11 21:31:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:31:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:31:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:31:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:31:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:54 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 21:31:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:31:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:31:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:31:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 399 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:31:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.475s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:31:55 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.121[m] 3.384[deg]	[grasp_sample.py: 539]
+05/11 21:31:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:31:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:31:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:31:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:32:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:32:06 INFO: [Worker 0] Worker 0 house 1 episode 185 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:32:16 INFO: [Worker 0] Worker 0 house 1 episode 145 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/11 21:32:16 INFO: [Worker 0] [PROFILE] Episode 145 house 1 success=False episode_total=1.18s:
+  episode_total: mean=82.72s, total=165.45s, count=2, min=3844.3ms, max=161602.6ms
+  sensor_polling: mean=456.5ms, total=136.96s, count=300, min=333.6ms, max=797.4ms
+  physics_step: mean=28.8ms, total=8.65s, count=300, min=19.8ms, max=74.8ms
+  task_sampling: mean=590.4ms, total=1.18s, count=2, min=472.9ms, max=708.0ms
+  task_specific_sample: mean=586.9ms, total=1.17s, count=2, min=469.5ms, max=704.3ms
+  scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=1.1ms, max=1.2ms
+  mj_forward_sync: mean=484.5us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.2us, 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]
+05/11 21:32:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:32:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:32:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:32:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:32:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:32:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:32:17 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]
+05/11 21:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161812m	[env.py: 870]
+05/11 21:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:32:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47684905 -0.98501056 -0.16181183] yaw=-63.6deg	[env.py: 1019]
+05/11 21:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29750483 -0.92808947 -0.16181183] yaw=-47.5deg	[env.py: 1019]
+05/11 21:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:32:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=365.2ms, total=365.3ms	[env.py: 1075]
+05/11 21:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -0.985, -0.162)	[env.py: 1079]
+05/11 21:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.6 deg	[env.py: 1082]
+05/11 21:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/11 21:32:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:32:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:32:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:32:18 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:32:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:32:18 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]
+05/11 21:32:18 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:32:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:32:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:32:22 INFO: [Worker 0] Feasible grasp found 484 (originally 484): w/ 0.679[m] 94.383[deg]	[grasp_sample.py: 539]
+05/11 21:32:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:32:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:32:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:32:35 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:32:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 21:32:35 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/11 21:32:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:32:41 INFO: [Worker 0] Worker 0 house 1 episode 195 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:32:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:32:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:32:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:32:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:32:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:32:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.27s (batch: 4.61s, save: 9.66s)	[pipeline.py: 300]
+05/11 21:32:50 INFO: [Worker 0] [PROFILE] Episode 185 house 1 success=True episode_total=0.57s:
+  episode_total: mean=189.07s, total=189.07s, count=1, min=189072.6ms, max=189072.6ms
+  sensor_polling: mean=473.7ms, total=130.73s, count=276, min=385.8ms, max=731.9ms
+  save_trajectories: mean=9.66s, total=9.66s, count=1, min=9660.4ms, max=9660.4ms
+  physics_step: mean=27.9ms, total=7.70s, count=276, min=17.0ms, max=75.1ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4610.8ms, max=4610.8ms
+  task_sampling: mean=574.4ms, total=574.4ms, count=1, min=574.4ms, max=574.4ms
+  task_specific_sample: mean=570.6ms, total=570.6ms, count=1, min=570.6ms, max=570.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=389.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.9us, 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]
+05/11 21:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:32:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:32:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:32:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:32:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:32:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:32:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:32:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:32:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:32:52 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]
+05/11 21:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117149m	[env.py: 870]
+05/11 21:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:32:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=238.6ms, total=238.7ms	[env.py: 1105]
+05/11 21:32:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:32:52 ERROR: [Worker 0] Worker 0 house 1 episode 186 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:32:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:32:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:32:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:32:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:32:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:32:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:32:54 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]
+05/11 21:32:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:32:54 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]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161389m	[env.py: 870]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:32:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43211279 -0.9566071  -0.1613894 ] yaw=-47.7deg	[env.py: 1019]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4571938  -0.85836439 -0.1613894 ] yaw=-67.1deg	[env.py: 1019]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:32:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=234.9ms, total=235.0ms	[env.py: 1075]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.432, -0.957, -0.161)	[env.py: 1079]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.7 deg	[env.py: 1082]
+05/11 21:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/11 21:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:32:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:32:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:32:54 INFO: [Worker 0] Worker 0 house 1 episode 187/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:32:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:32:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:32:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:32:54 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:32:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:32:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:32:56 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.718[m] 84.708[deg]	[grasp_sample.py: 539]
+05/11 21:32:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:32:58 ERROR: [Worker 0] Worker 0 house 1 episode 187 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:32:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:32:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:32:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:32:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:32:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:32:59 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]
+05/11 21:32:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:32:59 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]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171287m	[env.py: 870]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:32:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62051847 -0.77678615 -0.17128675] yaw=-69.1deg	[env.py: 1019]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6763763  -0.97883972 -0.17128675] yaw=-63.7deg	[env.py: 1019]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66376631 -0.93373435 -0.17128675] yaw=-69.7deg	[env.py: 1019]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:32:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=201.2ms, total=201.3ms	[env.py: 1075]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.621, -0.777, -0.171)	[env.py: 1079]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg	[env.py: 1082]
+05/11 21:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/11 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:33:00 INFO: [Worker 0] Worker 0 house 1 episode 188/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:33:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:33:00 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]
+05/11 21:33:00 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:33:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:33:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.184s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:33:05 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.788[m] 88.922[deg]	[grasp_sample.py: 539]
+05/11 21:33:07 ERROR: [Worker 0] Worker 0 house 1 episode 188 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:33:07 INFO: [Worker 0] Object is not in grasp! 0.00135 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 21:33:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:33:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:33:07 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:33:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 354 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:33:07 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:33:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 21:33:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 21:33:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:33:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:33:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:33:08 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]
+05/11 21:33:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:33:08 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]
+05/11 21:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168608m	[env.py: 870]
+05/11 21:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:33:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=211.8ms, total=211.8ms	[env.py: 1105]
+05/11 21:33:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:33:08 ERROR: [Worker 0] Worker 0 house 1 episode 189 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:33:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:33:08 INFO: [Worker 0] Feasible grasp found 391 (originally 391): w/ 0.049[m] 7.992[deg]	[grasp_sample.py: 539]
+05/11 21:33:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:33:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:33:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:33:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:33:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:33:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:33:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:33:10 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]
+05/11 21:33:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:33:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186264m	[env.py: 870]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:33:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28986254 -0.89957203 -0.18626434] yaw=-63.0deg	[env.py: 1019]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:33:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=368.9ms, total=369.0ms	[env.py: 1075]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.290, -0.900, -0.186)	[env.py: 1079]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg	[env.py: 1082]
+05/11 21:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/11 21:33:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:33:10 INFO: [Worker 0] Worker 0 house 1 episode 190/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:33:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:33:10 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]
+05/11 21:33:10 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:33:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:33:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:33:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.434s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 21:33:12 ERROR: [Worker 0] Worker 0 house 1 episode 190 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 21:33:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:33:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:33:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:33:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:33:13 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]
+05/11 21:33:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:33:13 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]
+05/11 21:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179568m	[env.py: 870]
+05/11 21:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:33:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38321456 -0.87232319 -0.17956775] yaw=-65.3deg	[env.py: 1019]
+05/11 21:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35816982 -0.89650055 -0.17956775] yaw=-46.7deg	[env.py: 1019]
+05/11 21:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:33:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=441.9ms, total=441.9ms	[env.py: 1075]
+05/11 21:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -0.872, -0.180)	[env.py: 1079]
+05/11 21:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg	[env.py: 1082]
+05/11 21:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/11 21:33:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:33:14 INFO: [Worker 0] Worker 0 house 1 episode 191/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:33:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:33:14 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]
+05/11 21:33:14 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:33:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:33:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.389s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:33:17 INFO: [Worker 0] Feasible grasp found 262 (originally 262): w/ 0.775[m] 88.855[deg]	[grasp_sample.py: 539]
+05/11 21:33:19 ERROR: [Worker 0] Worker 0 house 1 episode 191 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:33:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:33:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:33:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:33:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:33:20 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]
+05/11 21:33:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:33:20 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]
+05/11 21:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196307m	[env.py: 870]
+05/11 21:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:33:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=224.3ms, total=224.3ms	[env.py: 1105]
+05/11 21:33:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:33:21 ERROR: [Worker 0] Worker 0 house 1 episode 192 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:33:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:33:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:33:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:33:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:33:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:33:22 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]
+05/11 21:33:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:33:22 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]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196406m	[env.py: 870]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:33:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16767767 -1.08410262 -0.19640584] yaw=-29.3deg	[env.py: 1019]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46443029 -0.85468463 -0.19640584] yaw=-52.6deg	[env.py: 1019]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:33:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=216.7ms, total=216.8ms	[env.py: 1075]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -1.084, -0.196)	[env.py: 1079]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.3 deg	[env.py: 1082]
+05/11 21:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/11 21:33:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 21:33:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_002	[save_utils.py: 785]
+05/11 21:33:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.66s (batch: 4.44s, save: 11.22s)	[pipeline.py: 300]
+05/11 21:33:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:33:23 INFO: [Worker 0] Worker 0 house 1 episode 193/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:33:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:33:23 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]
+05/11 21:33:23 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:33:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:33:23 INFO: [Worker 0] [PROFILE] Episode 195 house 1 success=True episode_total=0.48s:
+  episode_total: mean=224.37s, total=224.37s, count=1, min=224365.1ms, max=224365.1ms
+  sensor_polling: mean=457.5ms, total=137.26s, count=300, min=322.1ms, max=764.5ms
+  save_trajectories: mean=11.22s, total=11.22s, count=1, min=11216.6ms, max=11216.6ms
+  physics_step: mean=28.6ms, total=8.59s, count=300, min=19.8ms, max=101.6ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4439.5ms, max=4439.5ms
+  task_sampling: mean=479.0ms, total=479.0ms, count=1, min=479.0ms, max=479.0ms
+  task_specific_sample: mean=475.3ms, total=475.3ms, count=1, min=475.3ms, max=475.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=407.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.7us, 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]
+05/11 21:33:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:33:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:33:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:33:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:33:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:33:25 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]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185861m	[env.py: 870]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:33:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.8° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36097332 -0.97832134 -0.18586078] yaw=-52.6deg	[env.py: 1019]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:33:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=209.0ms, total=209.1ms	[env.py: 1075]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.978, -0.186)	[env.py: 1079]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg	[env.py: 1082]
+05/11 21:33:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/11 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:33:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:33:25 INFO: [Worker 0] Worker 0 house 1 episode 196/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:33:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:33:26 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]
+05/11 21:33:26 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:33:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:33:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:33:27 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.663[m] 91.314[deg]	[grasp_sample.py: 539]
+05/11 21:33:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:33:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:33:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:33:31 INFO: [Worker 0] Object is not in grasp! 0.00108 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 21:33:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:33:31 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]
+05/11 21:33:31 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:33:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 409 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:33:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.133s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:33:34 INFO: [Worker 0] Feasible grasp found 325 (originally 325): w/ 0.072[m] 9.643[deg]	[grasp_sample.py: 539]
+05/11 21:33:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:33:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:33:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:33:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:33:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:33:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 22.683s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:33:45 ERROR: [Worker 0] Worker 0 house 1 episode 193 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/11 21:33:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:33:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:33:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:33:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:33:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:33:47 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]
+05/11 21:33:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:33:47 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]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146689m	[env.py: 870]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:33:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57514242 -0.9273281  -0.14668894] yaw=-72.9deg	[env.py: 1019]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38681415 -0.80649031 -0.14668894] yaw=-66.2deg	[env.py: 1019]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13750725 -1.07832937 -0.14668894] yaw=-36.9deg	[env.py: 1019]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:33:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=212.0ms, total=212.0ms	[env.py: 1075]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.927, -0.147)	[env.py: 1079]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.9 deg	[env.py: 1082]
+05/11 21:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/11 21:33:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:33:47 INFO: [Worker 0] Worker 0 house 1 episode 194/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:33:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:33:48 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]
+05/11 21:33:48 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:33:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:33:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:33:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:33:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 21:33:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.509s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:33:51 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.670[m] 95.072[deg]	[grasp_sample.py: 539]
+05/11 21:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:33:53 ERROR: [Worker 0] Worker 0 house 1 episode 194 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:33:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:33:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:33:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:33:54 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]
+05/11 21:33:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:33:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 21:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128457m	[env.py: 870]
+05/11 21:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:33:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.7° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35908686 -1.10134903 -0.12845732] yaw=-37.2deg	[env.py: 1019]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.4° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22512692 -0.97605737 -0.12845732] yaw=-54.6deg	[env.py: 1019]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:33:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.0ms, total=235.0ms	[env.py: 1075]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.101, -0.128)	[env.py: 1079]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.2 deg	[env.py: 1082]
+05/11 21:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/11 21:33:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:33:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:33:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:33:55 INFO: [Worker 0] Worker 0 house 1 episode 195/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:33:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:33:55 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]
+05/11 21:33:55 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:33:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:33:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:33:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:33:57 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.661[m] 86.987[deg]	[grasp_sample.py: 539]
+05/11 21:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:33:59 ERROR: [Worker 0] Worker 0 house 1 episode 195 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 21:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:34:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:34:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:34:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:34:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:34:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/11 21:34:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:34:00 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]
+05/11 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163320m	[env.py: 870]
+05/11 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:34:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.2° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.0° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:34:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=225.8ms, total=225.8ms	[env.py: 1105]
+05/11 21:34:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/11 21:34:00 ERROR: [Worker 0] Worker 0 house 1 episode 196 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/11 21:34:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:34:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 21:34:01 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:34:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 403 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:34:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 21:34:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 21:34:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 21:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:34:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/11 21:34:02 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]
+05/11 21:34:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/11 21:34:02 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]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.647)	[env.py: 845]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153926m	[env.py: 870]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/11 21:34:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.3° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.6° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.1° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.5° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.9° outside wedge [108.9°, 143.2°], rejecting...	[env.py: 969]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58965508 -0.95176921 -0.15392605] yaw=-56.7deg	[env.py: 1019]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 21:34:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=394.7ms, total=394.8ms	[env.py: 1075]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.952, -0.154)	[env.py: 1079]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg	[env.py: 1082]
+05/11 21:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/11 21:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 21:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 21:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 21:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 21:34:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/11 21:34:03 INFO: [Worker 0] Worker 0 house 1 episode 197/240 collected=0/40	[pipeline.py: 1044]
+05/11 21:34:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/11 21:34:03 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]
+05/11 21:34:03 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:34:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:34:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.971s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:34:03 INFO: [Worker 0] Feasible grasp found 24 (originally 24): w/ 0.067[m] 17.064[deg]	[grasp_sample.py: 539]
+05/11 21:34:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:34:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:34:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:34:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.036s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:34:05 INFO: [Worker 0] Feasible grasp found 140 (originally 140): w/ 0.691[m] 89.046[deg]	[grasp_sample.py: 539]
+05/11 21:34:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:34:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:34:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:34:06 INFO: [Worker 0] Worker 0 house 1 episode 203 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/11 21:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:34:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:34:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:34:16 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]
+05/11 21:34:16 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:34:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 504 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:34:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.860s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:34:18 INFO: [Worker 0] Feasible grasp found 386 (originally 386): w/ 0.136[m] 25.164[deg]	[grasp_sample.py: 539]
+05/11 21:34:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:34:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:34:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:34:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:34:34 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]
+05/11 21:34:34 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:34:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:34:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.080s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 21:34:36 INFO: [Worker 0] Feasible grasp found 320 (originally 320): w/ 0.186[m] 21.410[deg]	[grasp_sample.py: 539]
+05/11 21:34:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 21:34:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 21:34:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 21:34:39 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/3drawers/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/11 21:34:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 21:34:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 21:34:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 21:34:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 21:34:45 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]
+05/11 21:34:45 INFO: [Worker 0] Loaded 1328 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 21:34:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/11 21:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
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